BR112021003938A2 - grounding arrangement of power modules - Google Patents

Abstract

GROUNDING PROVISION OF POWER MODULES. The present invention relates to a first module configured to engage with a second module in a stacked configuration to define a modular power system. The first module comprises a first bridge connector portion and a second conductive portion. The first bridge connector portion is configured to engage with a second bridge connector portion of the second module as the first module and second module are engaged. The first conductive portion is configured to engage with a second conductive portion of the second module as the first module and the second module are engaged, prior to engagement between the first bridge connector portion and the second bridge connector portion.

Description

Descriptive Report of the Patent of Invention for "GEARING PROVISION OF POWER MODULES".

CROSS REFERENCE TO RELATED ORDERS

[001] This application claims the benefit of US non-provisional patent application Serial No. 16/562,184, entitled GROUNDING ARRANGEMENT OF ENERGY MODULES, filed on September 5, 2019, the disclosure of which is incorporated herein by way of re- reference in its entirety.

[002] This application also claims the benefit of provisional US patent application Serial No. 62/826,584, entitled MODULAR SURGICAL PLATFORM ELECTRICAL ARCHITECTURE, filed March 29, 2019, the disclosure of which is incorporated herein by way of reference in its entirety.

[003] This application also claims the benefit of US Provisional Patent Application Serial No. 62/826,587, entitled MODULAR ENER- GY SYSTEM CONNECTIVITY, filed March 29, 2019, the disclosure of which is incorporated herein by reference. in its entirety.

[004] This application also claims the benefit of US Provisional Patent Application Serial No. 62/826,588, entitled MODULAR ENERGY SYSTEM INSTRUMENT COMMUNICATION TECHNIQUES, filed March 29, 2019, the disclosure of which is incorporated herein. for reference in its entirety.

[005] This application also claims the benefit of US Provisional Patent Application Serial No. 62/826,592, entitled MODULAR ENERGY DELIVERY SYSTEM, filed March 29, 2019, the disclosure of which is incorporated herein by reference in its entirety.

[006] This application also claims the benefit of provisional US Patent Application Serial No. 62/728,480 entitled MODULAR

ENERGY SYSTEM AND USER INTERFACE, filed September 7, 2018, the disclosure of which is incorporated herein by reference in its entirety.

BACKGROUND OF THE INVENTION

[007] The present disclosure refers to various surgical systems, including electrosurgical and/or modular ultrasonic surgical systems. Operating rooms (ORs) lack essential simplified solutions, as ORs have a tangled web of cables, devices and people due to the number of different devices that are needed to perform each surgical procedure. This is a reality for every OS in every market in the world. Essential equipment is a big problem in creating disorganization in OSs, as most essential equipment performs a task or job, and each type of essential equipment requires peculiar techniques or methods to use and has a user interface only. Consequently, there are unmet needs by the consumer for essential equipment and other surgical technologies to be consolidated in order to reduce the equipment projection area within the OR, simplify the equipment interfaces and improve the efficiency of the surgical team during a surgical procedure by reducing the number of devices that surgical team members need to interact with.

SUMMARY OF THE INVENTION

[008] In a general aspect, a first module is provided configured to mate with a second module in a stacked configuration to define a modular power system. The first module comprises a first bridge connector portion and a second conductive portion. The first bridge connector portion is configured to engage with a second bridge connector portion of the second module as the first and second modules.

of the module are engaged. The first conductive portion is configured to engage with a second conductive portion of the second module as the first module and the second module are engaged, prior to engagement between the first bridge connector portion and the second bridge connector portion .

[009] In another general aspect, a first module configured to engage with a second module in a stacked configuration is provided to define a modular power system. The first module comprises an enclosure, a grounding base extending from the enclosure a first distance, and an insulating base extending from the enclosure a second distance. The second distance is different from the first distance. The grounding base is configured to contact a first receiving surface disposed on the second module. The insulating base is configured to be received within a first receiving socket disposed on the second module or a third Module so that the insulating base does not come into contact with the first receiving socket.

[010] In another general aspect, a first module configured to mate with a second module in a stacked configuration is provided to define a modular power system. The second module comprises a housing and a second bridge connector portion. The second bridge connector portion comprises a second electrical element. The first module comprises a first bridge connector and a metal contact. The first bridge connector comprises a first electrical element and an external enclosure that extends at least partially around the first electrical element. The metal contact is fixed to the outer cabinet. The metal contact is configured to engage the second module housing during assembly before the first electrical element.

tion of the first bridge connector portion to engage the second electrical element of the second bridge connector portion.

FIGURES

[011] The various aspects described here, both with regard to organization and methods of operation, together with additional objects and advantages thereof, can be better understood by referring to the description presented below, considered together. with the attached drawings as follows.

[012] Figure 1 is a block diagram of a computer-implemented interactive surgical system, according to at least one aspect of the present disclosure.

[013] Figure 2 is a surgical system being used to perform a surgical procedure in an operating room, in accordance with at least one aspect of the present disclosure.

[014] Figure 3 is a central surgical controller paired with a visualization system, a robotic system, and an intelligent instrument, in accordance with at least one aspect of the present disclosure.

[015] Figure 4 is a partial perspective view of a housing of the central surgical controller, and of a combined generator module slidably received in a housing of the central surgical controller, in accordance with at least one aspect of the present disclosure.

[016] Figure 5 is a perspective view of a generator module combined with bipolar, ultrasonic and monopolar contacts and a smoke evacuation component, according to at least one aspect of the present disclosure.

[017] Figure 6 illustrates different power bus connectors for a plurality of side coupling ports of a modular side cabinet configured to receive a plurality of modules, in accordance with at least one aspect of the present disclosure.

[018] Figure 7 illustrates a vertical modular cabinet configured to receive a plurality of modules, in accordance with at least one aspect of the present disclosure.

[019] Figure 8 illustrates a surgical data network that comprises a modular communication central controller configured to connect modular devices located in one or more operating rooms of a health care facility, or any environment in a installation of public services specially equipped for surgical operations, to the cloud, in accordance with at least one aspect of the present disclosure.

[020] Figure 9 illustrates an interactive surgical system implemented by a computer, according to at least one aspect of the present disclosure.

[021] Figure 10 illustrates a central surgical controller comprising a plurality of modules coupled to the modular control tower, according to at least one aspect of the present disclosure.

[022] Figure 11 illustrates an aspect of a universal serial bus (USB) network central controller device, in accordance with at least one aspect of the present disclosure.

[023] Figure 12 illustrates a logic diagram of a control system for a surgical instrument or tool, according to at least one aspect of the present disclosure.

[024] Figure 13 illustrates a control circuit configured to control aspects of the instrument or surgical tool, in accordance with at least one aspect of the present disclosure.

[025] Figure 14 illustrates a combinational logic circuit configured to control aspects of the instrument or surgical tool.

ca, in accordance with at least one aspect of the present disclosure.

[026] Figure 15 illustrates a sequential logic circuit configured to control aspects of the instrument or surgical tool, according to at least one aspect of the present disclosure.

[027] Figure 16 illustrates a surgical instrument or tool comprising a plurality of motors that can be activated to perform various functions, in accordance with at least one aspect of the present disclosure.

[028] Figure 17 is a schematic diagram of a robotic surgical instrument configured to operate a surgical tool described therein, according to at least one aspect of this disclosure.

[029] Figure 18 illustrates a block diagram of a surgical instrument programmed to control the distal translation of the displacement member, in accordance with at least one aspect of the present disclosure.

[030] Figure 19 is a schematic diagram of a surgical instrument configured to control various functions, in accordance with at least one aspect of the present disclosure.

[031] Figure 20 is a system configured to run adaptive ultrasonic blade control algorithms in a surgical data network comprising a modular communication central controller, according to at least one aspect of the present disclosure.

[032] Figure 21 illustrates an example of a generator, in accordance with at least one aspect of the present disclosure.

[033] Figure 22 is a surgical system comprising a generator and several surgical instruments usable with it, according to at least one aspect of the present disclosure.

[034] Figure 23 is a diagram of a surgical system with situational awareness, according to at least one aspect of pre-

feels disclosure.

[035] Figure 24 is a diagram of various modules and other components that are combinable to customize modular power systems, according to at least one aspect of the present disclosure.

[036] Figure 25A is a first illustrative modular power system configuration that includes a header module and a display screen that features a graphical user interface (GUI) for relaying information regarding modules connected to the header module, from in accordance with at least one aspect of the present disclosure.

[037] Figure 25B is the modular power system shown in Figure 25A mounted on a car, in accordance with at least one aspect of the present disclosure.

[038] Figure 26A is a second illustrative modular power system configuration that includes a header module, a display screen, a power module, and an expanded power module connected and mounted to a car, in accordance with at least an aspect of the present disclosure.

[039] Figure 26B is a third illustrative modular power system configuration that is similar to the second configuration shown in Figure 25A, except that the header module does not have a display screen, in accordance with at least one aspect of the present disclosure.

[040] Figure 27 is a fourth illustrative modular power system configuration that includes a header module, a display screen, a power module, an expanded power module, and a technology module connected together and mounted on a car, in accordance with at least one aspect of the present disclosure.

[041] Figure 28 is a fifth illustrative modular power system configuration that includes a header module, a display screen, a power module, an expanded power module, a technology module, and a module displays connected together and mounted on a car, in accordance with at least one aspect of the present disclosure.

[042] Figure 29 is a diagram of a modular power system including communicatively connectable surgical platforms in accordance with at least one aspect of the present disclosure.

[043] Figure 30 is a perspective view of a header module of a modular power system, including a user interface, in accordance with at least one aspect of the present disclosure.

[044] Figure 31 is a block diagram of an independent central controller configuration of a modular power system, in accordance with at least one aspect of the present disclosure.

[045] Figure 32 is a block diagram of a central controller configuration of a modular power system integrated with a surgical control system, in accordance with at least one aspect of the present disclosure.

[046] Figure 33 is a block diagram of a user interface module coupled to a communication module of a modular power system, in accordance with at least one aspect of the present disclosure.

[047] Figure 34 is a block diagram of a power module of a modular power system, in accordance with at least one aspect of the present disclosure.

[048] Figures 35A and 35B illustrate a block diagram of a power module coupled to a header module of a modular power system, in accordance with at least one aspect of the present disclosure.

[049] Figures 36A and 36B illustrate a block diagram of a header/user interface (UI) module of a modular power system for a central controller, like the header module described in Figure 33, according to with at least one aspect of the present disclosure.

[050] Figure 37 is a block diagram of a power module for a central controller, such as the power module represented in Figures 31 to 36B, according to at least one aspect of the present disclosure.

[051] Figure 38 is a perspective view of a modular power system, according to at least one aspect of the present disclosure.

[052] Figure 39A is a bottom perspective view of a module of the modular power system of Figure 38.

[053] Figure 39B is an enlargement of the module in Figure 39A.

[054] Figure 40 is a top perspective view of a module of the modular power system of Figure 38.

[055] Figure 41 is a cross-sectional view of an upper module accommodated over a lower module of a modular power system, in accordance with at least one aspect of the present disclosure.

[056] Figure 42A illustrates a top module and a bottom module of a modular power system in an assembled configuration, in accordance with at least one aspect of the present disclosure.

[057] Figure 42B illustrates a column/socket configuration for connecting an upper module and a lower module of a modular power system, in accordance with at least one aspect of the present disclosure.

[058] Figure 43 illustrates a male bridge connector portion comprising a grounding feature of a modular surgical module, in accordance with at least one aspect of the present disclosure.

[059] Figure 44 is a cross-sectional view of an upper module accommodated over a lower module of a modular power system, in accordance with at least one aspect of the present disclosure.

DESCRIPTION

[060] The applicant of the present application holds the following US patent applications, filed concurrently with the present, and the disclosures of each of them are incorporated herein by reference, in their entirety:

[061] ● US patent application, summary no. END9067USNP1/180679-1M, entitled METHOD FOR CONSTRUCTING AND USING A MODULAR SURGICAL ENERGY SYSTEM WITH MULTIPLE DEVICES;

[062] ● US patent application, summary number END9069USNP1/180681-1M, entitled METHOD FOR ENERGY DISTRIBUTION IN A SURGICAL MODULAR ENERGY SYSTEM;

[063] ● US Patent Application, Precedent No. END9069USNP2/180681-2, entitled Surgical Modular energy system with A segmented backplane;

[064] ● US Patent Application, Precedent No. END9069USNP3 /180681-3, entitled Surgical Modular energy system with footer module;

[065] ● US patent application, docket number END9069USNP4/180681-4, entitled Power and Communication mitigation arrangement for modular surgical energy system;

[066] ● US Patent Application, Precedent No. END9069USNP5/180681-5, entitled MODULAR SURGICAL ENERGY SYSTEM WITH MODULE POSITIONAL AWARENESS SENSING WITH VOLTAGE DETECTION;

[067] ● US Patent Application, Precedent No. END9069USNP6/180681-6, entitled MODULAR SURGICAL ENERGY SYSTEM WITH MODULE POSITIONAL AWARENESS SENSING WITH TIME COUN-

TO HAVE;

[068] ● US Patent Application, Precedent No. END9069USNP7/180681-7, entitled MODULAR SURGICAL ENERGY SYSTEM WITH MODULE POSITIONAL AWARENESS WITH DIGITAL LOGIC;

[069] ● US patent application, docket no. END9068USNP1/180680-1M, entitled METHOD FOR CONTROLLING AN ENERGY MODULE OUTPUT;

[070] ● US patent application, docket no. END9068USNP2 /180680-2, entitled ENERGY MODULE FOR DRIVING MULTIPLE ENERGY MODALITIES;

[071] ● US patent application, docket no. END9068USNP3 /180680-3, entitled GROUNDING ARRANGEMENT OF ENERGY MODULES;

[072] ● US patent application, docket no. END9068USNP4/180680-4, entitled BACKPLANE CONNECTOR DESIGN TO CONNECT STACKED ENERGY MODULES;

[073] ● US patent application, summary no. END9068USNP5/180680-5, entitled ENERGY MODULE FOR DRIVING MULTIPLE ENERGY MODALITIES THROUGH A PORT;

[074] ● US patent application, docket no. END9068USNP6/180680-6, entitled SURGICAL INSTRUMENT USING DRIVE SIGNAL TO POWER SECONDARY FUNCTION;

[075] ● US patent application, docket no. END9038USNP1 /180529-1M, entitled METHOD FOR CONTROLLING A MODULAR ENERGY SYSTEM USER INTERFACE;

[076] ● US patent application, docket no. END9038USNP2 /180529-2, entitled PASSIVE HEADER MODULE FOR A MODULAR ENERGY SYSTEM;

[077] ● US patent application, docket no. END9038USNP3 /180529-3, entitled CONSOLIDATED USER INTERFACE FOR MODU-

LAR ENERGY SYSTEM;

[078] ● US Patent Application, Precedent No. END9038USNP4/180529-4, entitled AUDIO TONE CONSTRUCTION FOR AN ENERGY MODULE OF A MODULAR ENERGY SYSTEM;

[079] ● US Patent Application, Precedent No. END9038USNP5/180529-5, entitled ADAPTABLY CONNECTABLE AND REASSIGNABLE SYSTEM ACCESSORIES FOR MODULAR ENERGY SYSTEM;

[080] ● US patent application, summary number END9070USNP1/180682-1M, entitled METHOD FOR COMMUNICATING BETWEEN MODULES AND DEVICES IN A MODULAR SURGICAL SYSTEM;

[081] ● US patent application, docket no. END9070USNP2/180682-2, entitled FLEXIBLE HAND-SWITCH CIRCUIT;

[082] ● US patent application, docket no. END9070USNP3 /180682-3, entitled FIRST AND SECOND COMMUNICATION PROTOCOL ARRANGEMENT FOR DRIVING PRIMARY AND SECONDARY DEVICES THROUGH A SINGLE PORT;

[083] ● US patent application, docket no. END9070USNP4/180682-4, entitled FLEXIBLE NEUTRAL ELECTRODE;

[084] ● US patent application, docket no. END9070USNP5/180682-5, entitled SMART RETURN PAD SENSING THROUGH MODULATION OF NEAR FIELD COMMUNICATION AND CONTACT QUALITY MONITORING SIGNALS;

[085] ● US patent application, docket no. END9070USNP6/180682-6, entitled AUTOMATIC ULTRASONIC ENERGY ACTIVATION CIRCUIT DESIGN FOR MODULAR SURGICAL SYSTEMS;

[086] ● US patent application, docket no. END9070USNP7/180682-7, entitled COORDINATED ENERGY OUTPUTS OF SEPARATE BUT CONNECTED MODULES;

[087] ● US patent application, docket no. END9070USNP8/180682-8, entitled MANAGING SIMULTANEOUS MONOPOLAR OR-

TPUTS USING DUTY CYCLE AND SYNCHRONIZATION;

[088] ● US patent application, docket no. END9070USNP9 /180682-9, entitled PORT PRESENCE DETECTION SYSTEM FOR MODULAR ENERGY SYSTEM;

[089] ● US Patent Application, Precedent No. END9070USNP10 /180682-10, entitled INSTRUMENT TRACKING ARRANGEMENT BASED ON REAL TIME CLOCK INFORMATION;

[090] ● US patent application, summary no. END9070USNP11 /180682-11, entitled REGIONAL LOCATION TRACKING OF COMPONENTS OF A MODULAR ENERGY SYSTEM;

[091] ● US design patent application, docket no. END9212USDP1/190370D, entitled ENERGY MODULE;

[092] ● US Design Patent Application, Precedent No. END9213USDP1/190371D, entitled ENERGY MODULE MONOPOLAR PORT WITH FOURTH SOCKET AMONG THREE OTHER SOCKETS;

[093] ● US design patent application, docket no. END9214USDP1/190372D, entitled BACKPLANE CONNECTOR FOR ENERGY MODULE; and

[094] ● US design patent application, docket no. END9215USDP1/190373D, entitled ALERT SCREEN FOR ENERGY MODULE.

[095] Before explaining in detail the various aspects of surgical instruments and generators, it should be noted that the illustrative examples are not limited, in terms of application or use, to the construction details and arrangement of parts illustrated in the drawings and in the attached description. Illustrative examples may be implemented or incorporated in other aspects, variations and modifications, and may be practiced or performed in a variety of ways. Furthermore, except where otherwise indicated, the terms and expressions used in the present invention have been chosen for the purpose of describing the illustrative examples for the reader's convenience and not for the purpose of limiting the same. In addition, it should be understood that one or more of the aspects, aspect expressions, and/or examples described below may be combined with any one or more of the other aspects, aspect expressions and/or examples described below.

[096] Several aspects are directed towards improved ultrasonic surgical devices, electrosurgical devices, and generators for use with them. Aspects of ultrasonic surgical devices can be configured to transect and/or coagulate tissue during surgical procedures, for example. Aspects of electrosurgical devices can be configured to transect, coagulate, stagger, weld and/or desiccate tissue during surgical procedures, for example. Surgical System Hardware

[097] Referring to Figure 1, a computer-implemented interactive surgical system 100 includes one or more surgical systems 102 and a cloud-based system (for example, the cloud 104 which may include a remote server 113 coupled to a device. - storage flight 105). Each surgical system 102 includes at least one central surgical controller 106 in communication with cloud 104 which may include a remote server 113. In one example, as illustrated in Figure 1, surgical system 102 includes a system of communication. view 108, a robotic system 110, a handheld and smart surgical instrument 112, which are configured to communicate with each other and/or the central controller 106. In some aspects, a surgical system 102 may include a number of central controllers M 106, an N number of visualization systems 108, an O number of robotic systems 110, and a P number of smart, handheld surgical instruments 112, where M, N, O, and P are numbers integers greater than or equal to one.

[098] Figure 2 represents an example of a surgical system 102 being used to perform a surgical procedure on a patient who is lying on an operating table 114 in an operating room 116. A robotic system 110 is used in the surgical procedure as a part of surgical system 102. Robotic system 110 includes a surgeon console 118, a patient carriage 120 (surgical robot), and a robotic central surgical controller 122. The patient carriage 120 can manipulate at least one detachably attached surgical tool 117 through a minimally invasive incision in the patient's body while the surgeon views the surgical site through the surgeon console 118. An image of the surgical site can be taken by a medical imaging device 124, which can be manipulated by patient carriage 120 to orient imaging device 124. Robotic central surgical controller 122 can be used to process the images. surgical site images for subsequent display to the surgeon through the surgeon console 118.

[099] Other types of robotic systems can be readily adapted for use with the surgical system 102. Several examples of robotic systems and surgical instruments that are suitable for use with the present disclosure are described in Provisional Patent Application Serial No. 62/611,339, entitled ROBOT ASSISTED SURGICAL PLATFORM, filed on December 28, 2017, the disclosure of which is incorporated herein by reference in its entirety.

[0100] Several cloud-based analysis examples that are performed by cloud 104, and are suitable for use with the present disclosure, are described in provisional US patent application Serial No. 62/611,340 entitled CLOUD-BASED MEDICAL ANALYTICS , filed on December 28, 2017, the disclosure of which is incorporated herein by reference in its entirety.

[0101] In various aspects, the imaging device 124 includes at least one image sensor and one or more optical components. Suitable image sensors include, but are not limited to, Charge-Coupled Device ("CCD") sensors and Complementary Metal-Oxide Semiconductor ("CMOS") sensors.

[0102] The optical components of the imaging device 124 may include one or more light sources and/or one or more lenses. One or more light sources can be directed to illuminate portions of the surgical field. The one or more image sensors can receive reflected or refracted light from the surgical field, including reflected or refracted light from tissue and/or surgical instruments.

[0103] The one or more illumination sources can be configured to radiate electromagnetic energy in the visible spectrum as well as in the invisible spectrum. The visible spectrum, sometimes called the optical spectrum or light spectrum, is that portion of the electromagnetic spectrum that is visible to (ie can be detected by) the human eye and may be called visible light or simply light. A typical human eye will respond to wavelengths in air that are from about 380 nm to about 750 nm.

[0104] The invisible spectrum (ie, the non-luminous spectrum) is that portion of the electromagnetic spectrum situated below and above the visible spectrum (ie, wavelengths below about 380 nm and above about 750 nm). The invisible spectrum is not detectable by the human eye. Wavelengths greater than about 750 nm are longer than the visible red spectrum, and they become invisible in infrared (IR), microwaves, radio, and electromagnetic radiation. Wavelengths shorter than about 380 nm are shorter than the ultraviolet spectrum, and they become invisible ultraviolet, x-ray, and gamma-ray electromagnetic radiation.

[0105] In various aspects, the imaging device 124 is configured for use in a minimally invasive procedure. Examples of imaging devices suitable for use with the present disclosure include, but are not limited to, an arthroscope, angioscope, bronchoscope, choledocoscope, colonoscope, cytoscope, duodenoscope, enteroscope, esophagastro-duodenoscope (gastroscope), endoscope, laryngoscope, nasopharyngoscope- neproscope, sigmoidoscope, thoracoscope, and ureteroscope.

[0106] In one aspect, the imaging device uses multi-spectrum monitoring to discriminate topography and underlying structures. A multispectral image is one that captures image data within wavelength ranges along the electromagnetic spectrum. Wavelengths can be separated by filters or by using instruments that are sensitive to specific wavelengths, including light from frequencies beyond the visible light range, eg IR and ultraviolet light. Spectral imaging can allow the extraction of additional information that the human eye cannot capture with its red, green and blue receptors. The use of multispectral imaging is described in more detail under the heading "Advanced Imaging Acquisition Module" in US Provisional Patent Application Serial No. 62/611,341 entitled INTERACTIVE SURGICAL PLATFORM, filed December 28, 2017, the disclosure of which it is hereby incorporated by reference in its entirety. Multispectral monitoring can be a useful tool for relocating a surgical field after a surgical task is completed to perform one or more of the tests described above on the treated tissue.

[0107] It is axiomatic that strict sterilization of the operating room and surgical equipment is required during any surgery. The strict hygiene and sterilization conditions required in an "operating room," that is, an operating or treatment room, justify the highest possible sterilization of all medical devices and equipment. Part of this sterilization process is the need to sterilize anything that comes in contact with the patient or enters the sterile field, including the imaging device 124 and its connectors and components. It will be understood that the sterile field can be considered a specified area, such as inside a tray or on a sterile towel, which is considered to be free of microorganisms, or the sterile field can be considered an area, immediately surrounding a patient, who was prepared to perform a surgical procedure. The sterile field can include members of the brushing team, who are properly dressed, and all furniture and accessories in the area.

[0108] In various aspects, the display system 108 includes one or more imaging sensors, one or more image processing units, one or more storage matrices, and one or more screens that are strategically arranged in relation to to the sterile field, as illustrated in Figure 2. In one aspect, the visualization system 108 includes an interface to HL7, PACS, and EMR. Various components of the imaging system 108 are described under the heading "Advanced Imaging Acquisition Module" in US Provisional Patent Application Serial No. 62/611,341 entitled INTERACTIVE SURGICAL PLATFORM, filed December 28, 2017, the disclosure of which is incorporated herein by reference in its entirety.

[0109] As illustrated in Figure 2, a primary screen 119 is positioned in the sterile field to be visible to the operator at the operating table 114. In addition, a viewing tower 111 is positioned outside the sterile field. The viewing tower 111 includes a first non-sterile screen 107 and a second non-sterile screen 109.

which are opposite to each other. Display system 108, guided by central controller 106, is configured to use screens 107, 109, and 119 to coordinate the flow of information to operators in and out of the sterile field. For example, the central controller 106 can cause the display system 108 to display a snapshot of a surgical site, as recorded by an imaging device 124, on a non-sterile screen 107 or 109, while maintaining a transmission to the live from the surgical site on the main screen

119. The 107 or 109 non-sterile screen snapshot may allow a non-sterile operator to perform a diagnostic step relevant to the surgical procedure, for example.

[0110] In one aspect, the central controller 106 is also configured to route an input or diagnostic feedback by a non-sterile operator in the viewing tower 111 to the primary screen 119 within the sterile field, where it can be viewed by a sterile operator on operating table. In one example, input may be in the form of a modification of the snapshot displayed on non-sterile screen 107 or 109, which can be routed to main screen 119 by central controller 106.

[0111] Referring to Figure 2, a surgical instrument 112 is being used in the surgical procedure as part of the surgical system

102. The central controller 106 is also configured to coordinate the flow of information to a screen of the surgical instrument 112. For example, in provisional US patent application Serial No. 62/611,341, entitled INTERACTIVE SURGICAL PLATFORM, filed at 28 of December 2017, the disclosure of which is incorporated herein as a reference in its entirety. Diagnostic input or feedback entered by a non-sterile operator into viewing tower 111 can be routed by central controller 106 to surgical instrument screen 115 in the sterile field, where it can be viewed by the operator of the instrument.

surgical procedure 112. Exemplary surgical instruments that are suitable for use with the surgical system 102 are described under the title SURGICAL INSTRUMENT HARDWARE and in provisional US patent application Serial No. 62/611,341 entitled INTERACTIVE SURGICAL PLATFORM, filed at 28 of December 2017, the disclosure of which is incorporated herein by way of reference in its entirety, for example.

[0112] Referring now to Figure 3, a central controller 106 is shown in communication with a visualization system 108, a robotic system 110, and an intelligent handheld surgical instrument 112. The hub 106 includes a hub screen 135, a module module 138, a generator module 140, a communication module 130, a processor module 132, and a storage array.

134. In certain aspects, as illustrated in Figure 3, the hub 106 further includes a smoke evacuation module 126 and/or a suction/irrigation module 128.

[0113] During a surgical procedure, the application of energy to the tissue, for sealing and/or cutting, is usually associated with the evacuation of smoke, suction of excess fluid and/or irrigation of the tissue. Fluid, potency, and/or data lines from different sources are often intertwined during the surgical procedure. Valuable time can be wasted in addressing this issue during a surgical procedure. To untangle the lines it may be necessary to disconnect the lines from their respective modules, which may require restarting the modules. The modular enclosure of the 136 central controller provides a unified environment to manage power, data and fluid lines, which reduces the frequency of interlacing between such lines.

[0114] Aspects of the present disclosure present a central surgical controller for use in a surgical procedure that involves

see the application of energy to tissue in a surgical site. The central surgical controller includes a central controller housing and a combination generator module slidably received in a central controller housing docking station. The docking station includes power data and contacts. The combined generator module includes two or more of an ultrasonic power generator component, a bipolar RF power generator component, and a monopolar RF power generator component that are housed in a single unit. In one aspect, the combined generator module also includes a smoke evacuation component, at least one power application cable for connecting the combined generator module to a surgical instrument, at least one smoke evacuation component configured to evacuate smoke, fluid, and/or particulates generated by the application of therapeutic energy to tissue, and a fluid line extending from the remote surgical site to the smoke evacuation component.

[0115] In one aspect, the fluid line is a first fluid line and a second fluid line extends from the remote surgical site to a suction and irrigation module slidably received in the housing of the central controller. In one aspect, the central controller housing comprises a fluid interface.

[0116] Certain surgical procedures may require the application of more than one type of energy to tissue. One type of energy may be more beneficial for cutting tissue, while another type of different energy may be more beneficial for sealing tissue. For example, a bipolar generator can be used to seal tissue while an ultrasonic generator can be used to cut sealed tissue. Aspects of the present disclosure present a solution in which a modular central controller housing 136 is configured to accommodate different generators and facilitate interactive communication between them. One of the advantages of the central controller modular housing 136 is that it allows for the quick removal and/or replacement of multiple modules.

[0117] Aspects of the present disclosure feature a modular surgical envelope for use in a surgical procedure that involves applying energy to tissue. The modular surgical housing includes a first energy generating module, configured to generate a first energy for application to tissue, and a first docking station comprising a first docking port that includes first data and power contacts, being that the first power generator module is slidably movable in electrical engagement with the power and data contacts and wherein the first power generator module is slidably movable out of electrical engagement with the first power and data contacts .

[0118] In addition to the above, the modular surgical housing also includes a second energy generating module configured to generate a second energy, different from the first energy, for application to tissue, and a second docking station comprising a second port coupling that includes second data and power contacts, the second power generating module being slidingly movable in an electrical engagement with the power and data contacts, and the second power generating module being slidingly movable. sliding way out of the electrical coupling with the second power and data contacts.

[0119] In addition, the modular surgical cabinet also includes a communication bus between the first coupling port and the second coupling port, configured to facilitate communication between the first energy generating module and the second energy generating module.

[0120] With reference to Figures 3 to 7, aspects of the present disclosure are presented for a central controller modular housing 136 that allows for the modular integration of a generator module 140, a smoke evacuation module 126, and a suction module. - tion/irrigation 128. The modular housing of central controller 136 further facilitates interactive communication between modules 140, 126, 128. As illustrated in Figure 5, generator module 140 can be a generator module with monopolar, bipolar components and integrated ultrasonics, supported in a single cabinet unit 139 that slides into the modular housing of central controller 136. As illustrated in Figure 5, generator module 140 can be configured to connect to a monopolar device 146, a device bipolar 147 and an ultrasonic device 148. Alternatively, the generator module 140 may comprise a series of monopolar, bipolar and/or ultrasonic generator modules which interact through the central controller modular housing 136. The central controller modular housing 136 may be configured to facilitate the insertion of multiple generators and interactive communication between generators coupled to the central controller modular housing 136 so that the generators would act as a single generator.

[0121] In one aspect, the central controller modular housing 136 comprises a modular communication and power backplane 149 with external and wireless communication heads to allow detachable attachment of modules 140, 126, 128 and interactive communication between them .

[0122] In one aspect, the modular housing of the central controller 136 includes docking stations, or drawers, 151, here also called drawers, which are configured to slidingly receive modules 140, 126, 128. Figure 4 illustrates a partial perspective view of a central surgical controller housing 136, and a combined generator module 145 slidably received in a docking station 151 of the central surgical controller housing 136. A docking port 152 with power and data contacts on a rear side of the combined generator module 145 is configured to engage a mating docking port 150 with the power and data contacts of a mating docking station 151 of the central controller modular housing 136 as per the combined generator module 145 is slid into position in the mating docking station 151 of the central controller modular housing 136. In one aspect, the ger module Combined ador 145 includes a bipolar, ultrasonic, and monopolar module and a smoke evacuation module integrated into a single 139-bay unit, as illustrated in Figure 5.

[0123] In various aspects, smoke evacuation module 126 includes a fluid line 154 that transports captured/collected fluid smoke away from a surgical site and to, for example, smoke evacuation module 126. Vacuum suction originating from smoke evacuation module 126 can draw smoke into an opening of a utility conduit in the surgical site. The utility duct, coupled to the fluid line, may be in the form of a flexible tube that terminates in the smoke evacuation module 126. The utility duct and fluid line define a fluid path extending in direction to the smoke evacuation module 126 which is received in the housing of the central controller 136.

[0124] In various aspects, the suction/irrigation module 128 is coupled to a surgical tool comprising a fluid aspiration line and a fluid suction line. In one example, the suction and suction fluid lines are in the form of flexible tubes that extend from the surgical site towards the suction/irrigation module 128. One or more drive systems can be configured to cause irrigation and aspiration of fluids to and from the surgical site.

[0125] In one aspect, the surgical tool includes a drive shaft that has an end actuator on a distal end thereof and at least one energy treatment associated with the end actuator, an aspiration tube, and an irrigation tube. The suction tube may have an inlet port at a distal end of the suction tube and the suction tube extends through the drive shaft. Similarly, an irrigation pipe may extend through the drive shaft and may have an inlet port close to the power application implement. The power application implement is configured to deliver ultrasonic and/or RF energy to the surgical site and is coupled to generator module 140 by a cable that initially extends through the drive shaft.

[0126] The irrigation tube can be in fluid communication with a source of fluid, and the aspiration tube can be in fluid communication with a source of vacuum. The fluid source and/or the vacuum source may be housed in the suction/irrigation module 128. In one example, the fluid source and/or the vacuum source may be housed in the central controller housing 136 separately from the pump module. suction/irrigation 128. In such an example, a fluid interface may be configured to connect the suction/irrigation module 128 to the fluid source and/or the vacuum source.

[0127] In one aspect, modules 140, 126, 128 and/or their corresponding docking stations in central controller modular housing 136 may include alignment features that are configured to align the docking ports of the modules in engagement with their counterparts in the docking stations of the central controller modular housing 136. For example, as illustrated in Figure 4, the combined generator module 145 includes side supports 155 that are configured to slidingly engage the mating supports 156 of the station. coupling port 151 of central controller modular housing 136. The brackets cooperate to guide the coupling port contacts of the combined generator module module 145 in electrical engagement with the mating port contacts of the central controller modular housing 136 .

[0128] In some respects, the units 151 of the central controller modular housing 136 are of the same, or substantially the same size, and the modules are adjusted in size to be received in the units 151. For example, the side supports 155 and/or 156 may be larger or smaller depending on module size. In other respects, drawers 151 are different in size and are each designed to accommodate a specific module.

[0129] In addition, the contacts of a specific module can be keyed into engagement with the contacts of a specific unit to prevent insertion of a module into a unit with contact mismatch.

[0130] As illustrated in Figure 4, the coupling port 150 of one drawer 151 can be coupled to the coupling port 150 of another drawer 151 through a communication link 157 to facilitate an interactive communication between the modules housed in the enclosure central controller modular housing 136. Coupling ports 150 of central controller modular housing 136 may alternatively or additionally facilitate interactive wireless communication between modules housed in the central controller modular housing

136. Any suitable wireless communication can be used, such as Air Titan Bluetooth.

[0131] Figure 6 illustrates individual power bus connectors for a plurality of side docking ports of a lateral modular cabinet 160 configured to receive a plurality of modules from a central surgical controller 206. The lateral modular cabinet 160 is configured to receive and interconnect modules 161 sideways. Modules 161 are slidably inserted into docking stations 162 of modular side cabinet 160, which includes a back panel for interconnecting modules 161. As shown in Figure 6, modules 161 are arranged sideways in modular side cabinet 160. Alternatively, modules 161 can be arranged vertically in a modular side cabinet.

[0132] Figure 7 illustrates a vertical modular cabinet 164 configured to receive a plurality of modules 165 of the central surgical controller 106. The modules 165 are slidably inserted into docking stations, or drawers, 167 of the modular cabinet vertical 164, which includes a back panel for interconnecting modules 165. Although drawers 167 of vertical modular cabinet 164 are arranged vertically, in certain cases, a vertical modular cabinet 164 may include drawers that are disposed sideways. In addition, the modules 165 can interact with one another through the docking ports of the vertical modular cabinet 164. In the example in Figure 7, a screen 177 is provided to show data relevant to the operation of the modules 165. In addition, vertical modular cabinet 164 includes a master module 178 that houses a plurality of sub-modules that are slidably received in master module 178.

[0133] In various aspects, the imaging module 138 comprises an integrated video processor and a modular light source and is adapted for use with various imaging devices. In one aspect, the imaging device is comprised of a modular compartment that can be assembled with a light source module and a camera module. The compartment can be a disposable compartment. In at least one example, the disposable compartment is detachably attached to a reusable controller, a light source module, and a camera module. The light source module and/or the camera module can be selectively chosen depending on the type of surgical procedure. In one aspect, the camera module comprises a CCD sensor. In another aspect, the camera module comprises a CMOS sensor. In another aspect, the camera module is configured to image the scanned beam. Similarly, the light source module can be configured to provide a white light or a different light depending on the surgical procedure.

[0134] During a surgical procedure, removing a surgical device from the surgical field and replacing it with another surgical device that includes a camera or other light source may be inefficient. Temporarily losing sight of the surgical field can lead to undesirable consequences. The imaging device module of the present disclosure is configured to allow replacement of a light source module or a "midstream" camera module during a surgical procedure, without the need to remove the imaging device from the surgical field.

[0135] In one aspect, the imaging device comprises a tubular housing that includes a plurality of channels. A first channel is configured to slidingly receive the camera module, which can be configured to snap-fit to the first channel. A second channel is configured to slidingly receive the camera module, which can be configured to snap-fit to the first channel. In another example, the millstone

camera module and/or light source module can be rotated to a final position within their respective channels. A threaded coupling can be used in place of a snap fit.

[0136] In several examples, multiple imaging devices are placed in different positions in the surgical field to provide multiple views. Imaging module 138 can be configured to switch between imaging devices to provide an optimal view. In various aspects, the imaging module 138 can be configured to integrate the images from the different imaging devices.

[0137] Various image processors and imaging devices suitable for use with the present disclosure are described in US Patent No. 7,995,045 entitled COMBINED SBI AND CONVENTI- NAL IMAGE PROCESSOR, granted August 9, 2011 which is hereby incorporated by reference in its entirety. In addition, US patent No. 7,982,776 entitled SBI MOTION ARTIFACT REMOVAL APPARATUS AND METHOD, granted on July 19, 2011, which is incorporated herein by reference in its entirety, describes various systems for removing motion artifacts from image data. Such systems can be integrated with the imaging module 138. In addition to these, the publication of the US patent application n° 2011/0306840, entitled CONTROLLABLE MAGNETIC SOURCE TO FIXTURE INTRACORPOREAL APPARATUS, published on December 15, 2011, and publication of US patent application No. 2014/0243597, entitled SYSTEM FOR PERFORMING A MINIMALLY INVASIVE SURGICAL PROCEDURE, published on August 28, 2014, which are, each of which, incorporated herein by reference in their entirety .

[0138] Figure 8 illustrates a surgical data network 201 comprising a central modular communication controller 203 configured to connect modular devices located in one or more operating rooms of a healthcare facility, or any environment in a healthcare facility. utilities specially equipped for surgical operations, to a cloud-based system (eg, the cloud 204 which may include a remote server 213 coupled to a storage device 205). In one aspect, the modular central communication controller 203 comprises a central network controller 207 and/or a network switch 209 in communication with a network router. Modular central communication controller 203 may also be coupled to a local computer system 210 to provide local computer processing and data manipulation. The surgical data network 201 can be configured as a passive, intelligent, or switching network. A passive surgical data network serves as a conduit for data, allowing data to be transmitted from one device (or segment) to another and to cloud computing resources. An intelligent surgical data network includes features to allow traffic to pass through the surgical data network to be monitored and to configure each port on the 207 network central controller or 209 network switch. An intelligent surgical data network can be call of a central controller or controllable switch. A central switching controller reads the destination address of each packet and then forwards the packet to the correct port.

[0139] The modular devices 1a to 1n located in the operating room can be coupled to the modular communication central controller 203. The network central controller 207 and/or the network switch 209 can be coupled to a network router 211 to connect 1a to 1n devices to cloud 204 or local computer system

210. Data associated with devices 1a to 1n can be transferred.

to cloud-based computers through the router for remote data processing and manipulation. Data associated with devices 1a to 1n may also be transferred to local computer system 210 for processing and manipulating the local data. Modular devices 2a to 2m located in the same operating room can also be coupled to a network switch 209. The network switch 209 can be coupled to the central network controller 207 and/or the network router 211 to connect the devices 2a at 2m to cloud 204. Data associated with devices 2a to 2n can be transferred to cloud 204 through network router 211 for processing and manipulating the data. Data associated with devices 2a to 2m may also be transferred to local computer system 210 for processing and manipulation of local data.

[0140] It will be understood that the surgical data network 201 can be expanded by interconnecting multiple network central controllers 207 and/or multiple network switches 209 with multiple network routers 211. The modular communication central controller 203 may be contained in a modular control tower configured to receive multiple devices 1a to 1n/2a to 2m. Local computer system 210 may also be contained in a modular control tower. The modular communication central controller 203 is connected to a screen 212 to display the images obtained by some of the devices 1a to 1n/2a to 2m, for example, during surgical procedures. In various aspects, devices 1a to 1n/2a to 2m can include, for example, various modules such as an imaging module 138 coupled to an endoscope, a generator module 140 coupled to an energy-based surgical device, a smoke evacuation module 126, a suction/irrigation module 128, a communication module 130, a processor module 132, a storage matrix

134, a surgical device coupled to a screen, and/or a non-contact sensor module, among other modular devices that can be connected to the modular central communication controller 203 of the surgical data network 201.

[0141] In one aspect, the surgical data network 201 can comprise a combination of central network controllers, network switches, and network routers that connect devices 1a to 1n/2a to 2m to the cloud. Any or all of the devices 1a to 1n/2a to 2m coupled to the central network controller or network switch can collect data in real time and transfer the data to cloud computers for data processing and manipulation. It will be understood that cloud computing depends on sharing computing resources rather than having on-premises servers or personal devices to handle software applications. The word "cloud" can be used as a metaphor for "the Internet", although the term is not limited as such. Consequently, the term “cloud computing” can be used here to refer to “a type of Internet-based computing”, in which different services – such as servers, storage, and applications – are applied to the central controller of modular communication 203 and/or to the computer system 210 located in the operating room (eg, a fixed, mobile, temporary, or operating room or space) and to devices connected to the modular communication central controller 203 and/or to computer system 210 via the Internet. The cloud infrastructure can be maintained by a cloud service provider. In this context, the cloud service provider can be the entity that coordinates the use and control of devices 1a to 1n/2a to 2m located in one or more operating rooms. Cloud computing services can perform a large number of calculations based on data collected by intelligent surgical instruments, robots, and other computerized devices located in the operating room. Central controller hardware allows multiple devices or connections to be connected to a computer that communicates with cloud computing and storage resources.

[0142] Applying cloud computer data processing techniques to data collected by devices 1a to 1n/2a to 2m, the surgical data network provides better surgical outcomes, reduced costs, and better patient satisfaction . At least some of the devices 1a to 1n/2a to 2m can be used to visualize tissue states to assess the occurrence of leaks or perfusion of sealed tissue after a tissue sealing and cutting procedure. At least some of the devices 1a to 1n/2a to 2m can be used to identify pathology, such as the effects of disease, using cloud-based computing to examine data including images of body tissue samples for diagnostic purposes. . This includes confirmation of tissue location and margin and phenotypes. At least some of the devices 1a to 1n/2a to 2m can be used to identify anatomical structures of the body using a variety of sensors integrated with imaging devices and techniques such as overlaying images captured by multiple imaging devices. Data collected by devices 1a to 1n/2a to 2m, including image data, can be transferred to cloud 204 or local computer system 210 or both for data processing and manipulation including image processing and manipulation. Data can be analyzed to improve surgical procedure outcomes by determining whether additional treatment, such as application of endoscopic intervention, emerging technologies, a targeted radiation, targeted intervention, precise robotics to specific tissue sites and conditions, can be followed. Such data analysis can additionally use analytical processing of results, and with the use of standardized approaches can provide standardized beneficial feedback either to confirm surgical treatments and surgeon behavior or to suggest modifications to surgical treatments and patient behavior. surgeon.

[0143] In one implementation, operating room devices 1a to 1n can be connected to the modular communication central controller 203 via a wired channel or a wireless channel depending on the configuration of devices 1a to 1n in a central network controller. The central network controller 207 can be implemented, in one aspect, as a LAN transmission device that acts on the physical layer of the open system interconnection ("OSI" model). The core network controller provides connectivity to devices 1a through 1n located on the same network as the operating room. The network central controller 207 collects data in the form of packets and sends them to the router in "half duplex" mode. The central network controller 207 does not store any media access control/Internet protocol (MAC/IP) to transfer device data. Only one of the devices 1a to 1n at a time can send data through the core network controller 207. The core network controller 207 has no routing tables or intelligence about where to send information and transmits all network data through from each connection and to a remote server 213 (Figure 9) in the cloud 204. The central network controller 207 can detect basic network errors such as collisions, but having all the information transmitted to multiple input ports can be a security risk and cause bottlenecks.

[0144] In another implementation, operating room devices 2a to 2m can be connected to a 209 network switch via a wired or wireless channel. The 209 network switch works at the data connection layer of the OSI model. Network switch 209 is a multicast device for connecting devices 2a to 2m located in the same operation center to the network. Network switch 209 sends data in the form of frames to network router 211 and operates in full duplex mode. Multiple devices 2a-2m can send data at the same time through the 209 network switch. The 209 network switch stores and uses MAC addresses of devices 2a-2m to transfer data.

[0145] The central network controller 207 and/or the network switch 209 are coupled to the network router 211 for a connection to the cloud 204. The network router 211 works at the network layer of the OSI model. The network router 211 creates a route to transmit data packets received from the central network controller 207 and/or the network switch 211 to a computer with cloud resources for further processing and manipulation of data collected by any of or all devices 1a to 1n/2a to 2m. The network router 211 can be used to connect two or more different networks located in different locations, for example, different operating rooms of the same healthcare facility or different networks located in different operating rooms of the different health service facilities. Network router 211 sends data in the form of packets to cloud 204 and operates in full duplex mode. Multiple devices can send data at the same time. Network router 211 uses IP addresses to transfer data.

[0146] In one example, the network central controller 207 can be implemented as a USB central controller, which allows multiple USB devices to be connected to a host computer. The USB central controller can expand a single USB port to several levels so that there are more ports available to connect devices to the system's host computer. The core network controller 207 may include wired or wireless capabilities to receive information about a wired channel or a wireless channel. In one aspect, a wireless wireless, broadband and wireless USB short-range radio communication protocol can be used to communicate between devices 1a-1n and devices 2a-2m located in the operating room.

[0147] In other examples, operating room devices 1a to 1n/2a to 2m can communicate with the modular communication central controller 203 via the Bluetooth wireless technology standard for exchanging data over short distances (using short-wavelength UHF radio waves in the 2.4 to 2.485 GHz ISM band) received from fixed and mobile devices, and building personal area networks ("PANs"). In other aspects, operating room devices 1a-1n/2a-2m can communicate with the modular communication central controller 203 via a variety of wireless or wired communication standards or protocols, including but not limited to a, Wi-Fi (IEEE 802.11 family), WiMAX (IEEE 802.16 family), IEEE 802.20, long-term evolution (LTE, "long-term evolution") and Ev-DO, HSPA+, HSDPA+, HSUPA+, EDGE, GSM, GPRS, CDMA, TDMA, DECT and Ethernet derivatives thereof, as well as any other wireless and wired protocols designated as 3G, 4G, 5G and beyond. The computing module can include a plurality of communication modules. For example, a first communication module can be dedicated to short-range wireless communications like Wi-Fi and Bluetooth, and a second communication module can be dedicated to longer-range wireless communications like GPS, EDGE , GPRS, CDMA, WiMAX, LTE, Ev-DO, and others.

[0148] Modular communication central controller 203 can serve as a central connection for one or all operating room devices 1a to 1n/2a to 2m and handles a type of data known as frames. Frames carry the data generated by devices 1a to 1n/2a to 2m. When a frame is received by the modular central communication controller 203, it is amplified and transmitted to the network router 211, which transfers the data to cloud computing resources using a series of standards or protocols. wireless or wired communication devices as described in the present invention.

[0149] The modular communication central controller 203 can be used as a standalone device or be connected to compatible network central controllers and network switches to form a larger network. The Modular Communication Central Controller 203 is generally easy to install, configure and maintain, making it a good choice for networking devices 1a to 1n/2a to 2m from the operating room.

[0150] Figure 9 illustrates a computer-implemented interactive surgical system 200. The computer-implemented interactive surgical system 200 is similar in many respects to the computer-implemented interactive surgical system 100. co, interactive, computer-implemented 200 includes one or more surgical systems 202, which are similar in many respects to surgical systems 102. Each surgical system 202 includes at least one central surgical controller 206 in communication with a cloud 204 which may include a remote server 213. In one aspect, the computer-implemented interactive surgical system 200 comprises a modular control tower 236 connected to multiple operating room devices such as intelligent surgical instruments, robots and the like. computerized devices located in the operating room. As shown in Figure 10, modular control tower 236 comprises a modular communication central controller 203 coupled to a computer system 210. As illustrated in the example in Fig.

ra 9, modular control tower 236 is coupled to an imaging module 238 that is coupled to an endoscope 239, a generator module 240 that is coupled to a power device 241, a smoke evacuation module 226 , a suction/irrigation module 228, a communication module 230, a processor module 232, a storage array 234, an intelligent device/instrument 235 optionally coupled to a screen 237, and a non-contact sensor module

242. The operating room devices are coupled to cloud computing resources and data storage through modular control tower 236. Robotic central controller 222 can also be connected to modular control tower 236 and to the computing resources in a cloud. Devices/Instruments 235, display systems 208, among others, can be coupled to modular control tower 236 via wired or wireless communication standards or protocols, as described in the present invention. Modular control tower 236 can be coupled to a central controller screen 215 (eg, monitor, screen) to display and overlay images received from the imaging module, device/instrument screen, and/or other display systems 208 The central controller screen can also display data received from devices connected to the modular control tower along with superimposed images and images.

[0151] Figure 10 illustrates a central surgical controller 206 comprising a plurality of modules coupled to the modular control tower 236. The modular control tower 236 comprises a modular communication central controller 203, for example, a network connectivity device , and a computer system 210 to provide local processing, visualization, and imaging, for example. As shown in Figure 10, the modular communication central controller 203 can be connected in a layered configuration to expand the number of modules (eg devices) that can be connected to the modular communication central controller 203 and transfer data associated with the modules to computer system 210, cloud computing resources, or both. As shown in Figure 10, each of the central controllers/network switches in the modular communication central controller 203 includes three downstream ports and one upstream port. The upstream central controller/network switch is connected to a processor to provide a communication link to cloud computing resources and a local screen 217. Communication to the cloud 204 can be via a channel of wired or wireless communication.

[0152] The central surgical controller 206 uses a non-contact sensor module 242 to measure the dimensions of the operating room and generate a map of the operating room using laser or ultrasonic type non-contact measurement devices. An ultrasound-based non-contact sensor module scans the operating room by transmitting a burst of ultrasound and receiving the echo when it bounces outside the perimeter of an operating room's walls, as described under entitled "Surgical Hub Spatial Awareness Within an Operation Room" in provisional US Patent Application Serial No. 62/611,341 entitled "INTERACTIVE SURGICAL PLATFORM", filed December 28, 2017, which is incorporated herein by reference into in its entirety, in which the sensor module is configured to determine the size of the operating room and to adjust the limits of the pairing distance with Bluetooth. A non-contact laser-based sensor module scans the operating room by transmitting pulses of laser light, receiving pulses of laser light that bounce from the perimeter walls of the operating room, and comparing the phase of the transmitted pulse to the received pulse. to determine the size of the operating room and to adjust the Bluetooth pairing distance limits, for example.

[0153] The computer system 210 comprises a processor 244 and a network interface 245. The processor 244 is coupled to a communication module 247, storage 248, memory 249, non-volatile memory 250, and input/output interface 251 via a system bus. The system bus can be any of several types of bus structures, including the memory bus or memory controller, a peripheral bus or external bus, and/or local bus that uses any variety of architectures. available including, but not limited to, 9-bit bus, Industry Standard Architecture (ISA), Micro-Charmel Architecture (MSA), Extended ISA (EISA), Intelligent Drive Electronic Circuits (IDE), VESA Local Bus (VLB), Peripheral Component Interconnect (PCI), USB, Advanced Graphics Port (AGP), PCMCIA (Personal Computer Memory Card International Association) bus, system interface for personal computers small computers (SCSI), or any other proprietary bus.

[0154] Processor 244 may be any single-core or multi-core processor such as those known under the trade name ARM Cortex available from Texas Instruments. In one aspect, the processor may be a Core Cortex-M4F LM4F230H5QR ARM processor, available from Texas Instruments, for example, which comprises a 256KB single-cycle flash memory integrated memory, or other nonvolatile memory, up to 40 MHz , a look-ahead buffer to optimize performance above 40 MHz, a 32KB single-cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with the StellarisWare® program, memory only 2KB electrically erasable programmable read (EEPROM), one or more pulse width modulation (PWM) modules, one or more analog quadrature encoder (QEI) inputs, one or more analog to digital converters ( 12-bit ADC) with 12 analog input channels, details of which are available for the product data sheet.

[0155] In one aspect, processor 244 may comprise a safety controller comprising two controller-based families, such as TMS570 and RM4x, known under the trade name Hercules ARM Cortex R4, also by Texas Instruments. The security controller can be specifically configured for IEC 61508 and ISO 26262 security critical applications, among others, to provide advanced built-in security features while providing scalable performance, connectivity and memory options.

[0156] System memory includes both volatile memory and non-volatile memory. The basic input/output system (BIOS), containing the basic routines for transferring information between elements within the computer system, such as during startup, is stored in non-volatile memory. For example, non-volatile memory can include ROM, programmable ROM (PROM), electrically programmable ROM (EPROM), EEPROM, or flash memory. Volatile memory includes random access memory (RAM), which acts as external cache memory. Additionally, RAM is available in many forms such as SRAM, Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct RAM Rambus RAM (DRRAM).

[0157] Computer system 210 also includes removable/non-removable, volatile/non-volatile computer storage media, for example disk storage. Disk storage includes, but is not limited to, devices such as a magnetic disk drive, floppy disk drive, tape drive, Jaz drive,

Zip driver, LS-60 trigger, flash memory card or memory stick (pen-drive). In addition, the storage disk may include storage media separately or in combination with other storage media including, but not limited to, an optical disk drive such as a compact disk (CD-ROM) ROM device compact recordable disc drive (CD-R Drive), compact rewritable disc drive (CD-RW drive), or a versatile digital disc ROM drive (DVD-ROM). To facilitate the connection of disk storage devices to the system bus, a removable or non-removable interface can be used.

[0158] It is to be understood that computer system 210 includes software that acts as an intermediary between the users and the basic computer resources described in a suitable operating environment. Such software includes an operating system. The operating system, which can be stored on disk storage, acts to control and allocate computer system resources. System applications benefit from management capabilities by the operating system through program modules and program data stored in system memory or on disk storage. It is to be understood that various components described in the present invention can be implemented with various operating systems or combinations of operating systems.

[0159] A user enters commands or information into computer system 210 through input device(s) coupled to I/O interface 251. Input devices include, but are not limited to, a pointing device such as a mouse, trackball, stylus, touchpad, keyboard, microphone, joystick, game pad, satellite card, scanner, TV tuner card, digital camera, digital video camera, web camera, and the like. These and other input devices connect to the processor through the bar-

system through the interface port(s). Interface ports include, for example, a serial port, a parallel port, a game port and a USB. Output devices use some of the same types of ports as input devices. In this way, for example, a USB port can be used to provide input to the computer system and to provide computer system information to an output device. An output adapter is provided to illustrate that there are some output devices such as monitors, displays, speakers, and printers, among other output devices, that need special adapters. Output adapters include, by way of illustration and not limitation, video and sound cards that provide a means of connection between the output device and the system bus. It should be noted that other devices and/or device systems, such as remote computers, provide input and output capabilities.

[0160] Computer system 210 can operate in a networked environment using logical connections to one or more remote computers, such as cloud computers, or local computers. Remote cloud computers can be a personal computer, server, router, network personal computer, workstation, microprocessor-based device, peer device, or other common network node, and the like, and typically include many or all the elements described in relation to the computer system. For the sake of brevity, only one memory storage device is illustrated with the remote computer. Remote computers are logically connected to the computer system through a network interface and then physically connected through a communication connection. The network interface encompasses communication networks such as local area networks (LANs) and wide area networks (WANs). The tec-

LAN technologies include Fiber Distributed Data Interface (FDDI), Copper Distributed Data Interface (CDDI), Ethernet/IEEE 802.3, Token Ring/IEEE 802.5, and the like. WAN technologies include, but are not limited to, point-to-point links, circuit-switched networks such as integrated services digital networks (ISDN) and variations thereof, packet-switched networks, and digital subscriber lines (DSL). ).

[0161] In various aspects, the computer system 210 of Figure 10, the imaging module 238 and/or display system 208, and/or the processor module 232 of Figures 9 and 10, may comprise an image processor. image, image processing engine, media processor, or any specialized digital signal processor (DSP) used for processing digital images. The image processor can use parallel computing with multiple data single instruction (SIMD) or multiple data multiple instructions (MIMD) technologies to increase speed and efficiency. The digital image processing engine can perform a number of tasks. The image processor can be a system on an integrated circuit with a multi-core processor architecture.

[0162] Communication connections refer to the hardware/software used to connect the network interface to the bus. Although the communication connection is shown for illustrative clarity within the computer system, it may also be external to computer system 210. The hardware/software required for connection to the network interface includes, for illustrative purposes only, technology. internal and external technologies such as modems, including regular telephone serial modems, cable modems and DSL modems, ISDN adapters, and Ethernet cards.

[0163] Figure 11 illustrates a functional block diagram of an aspect of a USB network central controller device 300, in accordance with at least one aspect of the present disclosure. In the illustrated aspect, the USB network central controller device 300 uses a TUSB2036 integrated circuit central controller available from Texas Instruments. The USB 300 Network Hub Controller is a CMOS device that provides one USB upstream transceiver port 302 and up to three USB downstream transceiver ports 304, 306, 308 in compliance with the USB 2.0 specification. Upstream USB transceiver port 302 is a differential data root port comprising a "minus" differential data input (DM0) paired with a "plus" differential data input (DP0). The three downstream USB transceiver ports 304, 306, 308 are differential data ports, with each port including "plus" differential data outputs (DP1-DP3) paired with "minus" differential data outputs (DM1- DM3).

[0164] The USB 300 network core controller device is implemented with a digital state machine instead of a microcontroller, and no firmware programming is required. Fully compatible USB transceivers are integrated into the circuit for the USB upstream transceiver port 302 and all USB downstream transceiver ports 304, 306, 308. USB downstream transceiver ports 304, 306, 308 support both full speed and low speed devices by automatically setting the scan rate according to the speed of the device fixed to the ports. The USB network central controller device 300 can be configured in bus-powered or self-powered mode and includes central power logic 312 to manage power.

[0165] The USB 300 network central controller device includes a 310 serial interface engine (SIE). The SIE 310 is the front end of the USB 300 network central controller hardware and handles most of the protocol described in chapter 8 of the USB specification. The SIE 310 typically understands signaling down to the transaction level. The functions it handles could include: packet recognition, transaction sequencing, SOP, EOP, RESET, and RESUME signal detection/generation, clock/data separation, non-zero data encoding/decoding inverted (NRZI), CRC (token and data) generation and verification, packet ID (PID) generation and verification/decoding, and/or serial-parallel/parallel-series conversion. The 310 receives a clock input 314 and is coupled to a suspend/resume logic circuit and 316 frame timer and a central controller repeater circuit 318 to control communication between the 302 upstream USB transceiver port and the transceiver ports. USB downstream 304, 306, 308 through the logic circuits of ports 320, 322, 324. The SIE 310 is coupled to a command decoder 326 through the logic interface to control commands from a serial EEPROM through an interface of EEPROM in series 330.

[0166] In many respects, the USB 300 network core controller can connect 127 configured functions in up to six logical layers (levels) to a single computer. In addition, the USB 300 core network controller can connect all peripherals using a standardized four-wire cable that provides both communication and power distribution. Power settings are bus-powered and self-powered modes. The USB 300 network central controller can be configured to support four power management modes: a bus-powered central controller with individual port power management or grouped port power management, and the controller self-powered switch, with individual door power management or grouped door power management. In one aspect, with the use of a USB cable, the USB 300 hub network controller, the 302 upstream USB transceiver port plugs into a USB host controller, and the 304 downstream USB transceiver ports , 306, 308 are exposed for connecting USB compatible devices, and so on. surgical instrument hardware

[0167] Figure 12 illustrates a logic diagram of a control system module 470 of a surgical instrument or tool, in accordance with one or more aspects of the present disclosure. System 470 comprises a control circuit. The control circuit includes a microcontroller 461 comprising a processor 462 and a memory

468. One or more of sensors 472, 474, 476, for example, provide real-time feedback to processor 462. A motor 482, driven by a motor driver 492, operatively couples a longitudinally movable displacement member to drive an arm. - clamping steel of the closing member. A tracking system 480 is configured to determine the position of the longitudinally movable displacement member. Position information is provided to the processor 462, which can be programmed or configured to determine the position of the longitudinally movable drive member as well as the position of the closure member. Additional motors can be provided at the tool driver interface to control the tube closing path, drive shaft rotation, linkage, clamp arm closing, or a combination of these. A 473 screen shows a variety of instrument operating conditions and may include touch screen functionality for data entry. Information displayed on the 473 screen can be overlaid with images captured using endoscopic imaging modules.

[0168] In one aspect, the 461 microcontroller can be any single-core or multi-core processor such as those known under the trade name ARM Cortex available from Texas Instruments. In one aspect, the main microcontroller 461 may be an LM4F230H5QR ARM Cortex-M4F processor, available from Texas Instruments, for example, which comprises a 256KB single-cycle flash memory integrated memory, or other non-core memory. volatile, up to 40 MHz, a look-ahead buffer to optimize performance above 40 MHz, a 32 KB single-cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with the StellarisWare® program, 2KB electrically erasable read-only programmable memory (EEPROM), one or more pulse-width modulation (PWM) modules, one or more analog quadrature encoder inputs (QEI) ), and/or one or more 12-bit analog to digital converters (ADC) with 12 analog input channels, details of which are available in the product data sheet.

[0169] In one aspect, the 461 microcontroller can comprise a safety controller comprising two controller-based families such as TMS570 and RM4x known under the trade name Hercules ARM Cortex R4, also available from Texas Instruments. The safety controller can be specifically configured for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced built-in safety features while providing scalable performance, connectivity and memory options.

[0170] The 461 microcontroller can be programmed to perform various functions such as precise control of the speed and position of the scalpel, articulation systems, clamping arm, or a combination of these. In one aspect, the microcontroller 461 includes a processor 462 and a memory 468.

of being a brushed direct current (DC) motor with a gearbox and mechanical connections with an articulation system or scalpel. In one aspect, a 492 motor starter may be an A3941 available from Allegro Microsystems, Inc. Other motor starters may be readily substituted for use in the 480 tracking system which comprises an absolute positioning system. A detailed description of an absolute positioning system is given in US patent application publication No. 2017/0296213 entitled SYSTEMS AND METHODS FOR CONTROLLING A SURGICAL STAPLING AND CUTTING INSTRUMENT, published on October 19, 2017, which is here incorporated by way of reference in its entirety.

[0171] The 461 microcontroller can be programmed to provide precise control of the speed and position of the displacement members and articulation systems. The microcontroller 461 can be configured to compute a response in the 461 microcontroller software. The computed response is compared to a measured response from the actual system to obtain an "observed" response, which is used for actual feedback-based decisions. The observed response is a favorable and adjusted value, which balances the uniform and continuous nature of the simulated response with the measured response, which can detect external influences on the system.

[0172] In one aspect, the 482 motor can be controlled by the 492 motor driver and can be used by the firing system of the surgical instrument or tool. In various forms, the 482 motor can be a brushed direct current (DC) drive motor with a maximum rotational speed of approximately 25,000 RPM, for example. In other arrangements, motor 482 can include a brushless motor, a wireless motor, a synchronous motor, a stepper motor, or any other suitable type of electric motor. the motor starter

492 may comprise an H-bridge driver comprising, for example, field-effect transistors (FETs). The 482 motor can be powered by a power pack releasably mounted in the grip assembly or tool compartment to provide control power to the instrument or surgical tool. The power package may comprise a battery which may include a number of battery cells connected in series, which may be used as the power source to energize the surgical instrument or tool. Under certain circumstances, the power pack battery cells may be replaceable and/or rechargeable battery cells. In at least one example, the battery cells can be lithium-ion batteries that can be attachable and detachable from the power package.

[0173] The 492 motor driver may be an A3941, available from Allegro Microsystems, Inc. The 492 A3941 motor driver is a full bridge controller for use with semiconductor metal oxide field effect transistors (MOSFET) of external power, N-channel, specifically designed for inductive loads such as brushed DC motors. The 492 driver comprises a single charge pump regulator that provides full gate actuation (>10V) for batteries with voltages up to 7V and allows the A3941 to operate with a reduced gate actuation, up to 5.5V. One capacitor The input drive can be used to supply the voltage in excess of that supplied by the battery required for the N-channel MOS-FETs. An internal charge pump for the overhead drive allows operation at direct current (100% cycle). of work). The entire bridge can be driven in fast or slow fall modes using diodes or synchronized rectification. In slow fall mode, current recirculation can be through the upper and lower FETs. Power FETs are protected from the shoot-through effect by means of programmable dead time resistors. Built-in diagnostics provide indication of undervoltage, overtemperature and power bridge faults and can be configured to protect power MOSFETs under most short circuit conditions. Other motor starters can be readily replaced for use in the 480 tracking system comprising an absolute positioning system.

[0174] The tracking system 480 comprises a controlled motor drive circuit arrangement comprising a position sensor 472 in accordance with an aspect of the present disclosure. Position sensor 472 for an absolute positioning system provides a unique position signal that corresponds to the location of a displacement member. In one aspect, the displacement member represents a longitudinally movable drive member comprising a rack of drive teeth for meshing with a corresponding drive gear of a gear reducer assembly. In other aspects, the displacement member represents the firing member, which can be adapted and configured to include a rack of drive teeth. In yet another aspect, the displacement member represents a longitudinal displacement member for opening and closing a clamping arm which may be adapted and configured to include a rack of drive teeth. In other aspects, the displacement member represents a clamp arm closure member configured to close and open a clamp arm of a stapler, ultrasonic, or electrosurgical device, or combinations thereof. Consequently, as used in the present invention, the term displacement member is used generically to refer to any movable member of the surgical instrument or tool such as the actuating member, the clamping arm, or any element that can be displaced. Consequently, the absolute positioning system can, in effect, track the displacement of the clamping arm by tracking the linear displacement of the longitudinally movable drive member. In other aspects, the absolute positioning system can be configured to track the position of a clamping arm in the opening or closing process. In many other respects, the displacement member can be coupled to any 472 position sensor suitable for measuring linear displacement. In this way, the longitudinally movable drive member, or the clamping arm, or combinations thereof, can be coupled to any linear displacement sensor. Linear displacement sensors can include contact or non-contact displacement sensors. Linear displacement sensors can comprise linear variable differential transformers (LVDT), variable reluctance differential transducers (DVRT), a sliding potentiometer, a magnetic detection system comprising a moving magnet and a series of effect sensors. - linearly arranged to Hall, a magnetic detection system comprising a fixed magnet and a series of linearly arranged mobile Hall effect sensors, an optical detection system comprising a moving light source and a series of photodiodes or photodetectors. - linearly arranged tors, an optical detection system comprising a fixed light source and a series of linearly arranged mobile photodiodes or photodetectors, or any combination thereof.

[0175] Electric motor 482 may include a rotary drive shaft, which operatively interfaces with a gear assembly, which is mounted in coupling engagement with a set or rack of drive teeth on the drive member. A sensing element may be operatively coupled to a gear assembly such that a single revolution of the position sensing element 472 corresponds to some linear longitudinal translation of the displacement member. An arrangement of gears and sensors can be connected to the linear actuator through a rack and pinion arrangement, or to a rotary actuator through a sprocket or other connection. A power supply supplies power to the absolute positioning system and an output indicator can show the output of the absolute positioning system. The drive member represents the longitudinally movable drive member comprising a rack of drive teeth formed thereon for meshing engagement with a corresponding drive gear of the gear reducer assembly. The displacement member represents the longitudinally movable firing member for opening and closing a clamping arm.

[0176] A single sensing element revolution associated with position sensor 472 is equivalent to a longitudinal linear displacement d1 of the displacement member, where d1 represents the longitudinal linear distance that the displacement member moves from point "a" to point "b" after a single revolution of the sensing element coupled to the displacement member. The sensor arrangement can be connected via a gear reduction which results in the position sensor 472 completing one or more revolutions for the full travel of the displacement member. The 472 position sensor can complete multiple revolutions for the full stroke of the displacement member.

[0177] A series of switches, where n is an integer greater than one, can be used alone or in combination with a gear reduction to provide a single position signal for more than one revolution of the 472 position sensor. of the switches is transmitted back to the microcontroller 461 which applies logic to determine a unique position signal corresponding to the displacement.

longitudinal linear movement d1 + d2 + … dn of the displacement member. The output of position sensor 472 is provided to the microcontroller

461. In various embodiments, the position sensor 472 of the sensor array may comprise a magnetic sensor, an analog rotating sensor such as a potentiometer, or a series of analog Hall effect elements that emit a unique combination of position of signs or values.

[0178] The position sensor 472 can comprise any number of magnetic sensing elements, such as, for example, magnetic sensors classified according to whether they measure the total magnetic field or the vector components of the magnetic field. The techniques used to produce both types of magnetic sensors cover many aspects of physics and electronics. Technologies used for magnetic field detection include flowmeter, saturated flux, optical pumping, nuclear precession, SQUID, Hall effect, anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magnetoimpedance, magnetostrictive compounds/ piesoelectric, magnetodiode, magnetic transistor, fiber optics, magneto-optics and magnetic sensors based on microelectromechanical systems, among others.

[0179] In one aspect, the position sensor 472 for the tracking system 480 comprising an absolute positioning system comprises a magnetic rotating absolute positioning system. The 472 position sensor can be implemented as a single integrated circuit magnetic swivel position sensor, AS5055EQFT, available from Austria Microsystems, AG. The 472 position sensor interfaces with the 461 microcontroller to provide an absolute positioning system. Position sensor 472 is a low voltage, low power component and includes four effect elements in an area of position sensor 472 located above a magnet. A high resolution ADC and an intelligent power management controller are also provided on the integrated circuit. A CORDIC processor (digital computer for coordinate rotation), also known as the digit-by-digit method and Volder algorithm, is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions that require only addition, subtraction operations. , bit shift and lookup table. Angle position, alarm bits and magnetic field information are transmitted via a standard serial communication interface, such as a serial peripheral interface (SPI), to the 461 microcontroller. The position sensor 472 provides 12 or 14 bits of resolution. The 472 position sensor can be an AS5055 integrated circuit supplied in a small 16-pin QFN package measuring 4x4x0.85 mm.

[0180] The tracking system 480 comprising an absolute positioning system may understand and/or be programmed to implement a feedback controller, such as a PID, status feedback, and adaptive controller. A power supply converts the feedback controller signal into a physical input to the system, in this case voltage. Other examples include a voltage, current, and power PWM. Other sensors may be provided in order to measure physical system parameters in addition to the position measured by the 472 position sensor. In some respects, the other sensors may include sensor arrangements such as those described in US patent no.

9,345,481 entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, issued May 24, 2016, which is incorporated by reference in its entirety herein; US patent application publication Serial No. 2014/0263552, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, published September 18, 2014, is incorporated by reference in its entirety in this document; and US patent application Serial No. 15/628,175 entitled TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR SPEED OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, submitted on June 20, 2017, is incorporated by reference in its in this document. In a digital signal processing system, an absolute positioning system is coupled to a digital data capture system where the output of the absolute positioning system will have finite resolution and sampling frequency. The absolute positioning system can comprise a comparison and match circuit to combine a computed response with a measured response through the use of algorithms, such as a weighted average and a theoretical control loop, that drive the calculated response in direction. to the measured response. The computed physical system response considers properties such as mass, inertia, viscous friction, resistance to inductance, etc., to predict from the input knowledge what the states and outputs of the physical system will be.

[0181] The absolute positioning system provides absolute positioning of the offset member on instrument activation without having to retract or advance the longitudinally movable actuation member to the reset position (zero or initial), as may be required by conventional rotary encoders which merely count the number of progressive or regressive steps the 482 motor has taken to infer the position of a device actuator, drive bar, scalpel, and the like.

[0182] A 474 sensor, such as an effort gauge or a microstrain gauge, is configured to measure one or more end actuator parameters, such as the amplitude of the effort exerted on the anvil during a prehension operation, which may be indicative of tissue compression. The measured effort is converted into a digital signal and provided to the pro-

ccessor 462. Alternatively, or in addition to sensor 474, a sensor 476, such as a load sensor, can measure the closing force applied by the closing drive system to the anvil on a stapler or an arm. tightening on an electrosurgical or ultrasonic instrument. The 476 sensor, such as a load sensor, can measure the trigger force applied to a closure member coupled to a clamping arm of the instrument or surgical tool or the force applied through a clamping arm to tissue located in the jaws of an electrosurgical or ultrasonic instrument. Alternatively, a current sensor 478 can be used to measure the current drawn by the motor 482. The displacement member can also be configured to engage a clamp arm to open or close the clamp arm. The force sensor can be configured to measure the gripping force on tissue. The force required to advance the displacement member can correspond to the current drawn by the 482 motor, for example. The measured power is converted to a digital signal and fed to the 462 processor.

[0183] In one form, a strain gauge sensor 474 can be used to measure the force applied to tissue by the tip actuator. A strain gauge can be attached to the tip actuator to measure the force applied to the tissue being treated by the tip actuator. A system for measuring forces applied to tissue held by the end actuator comprises a strain gauge sensor 474, such as a microstress meter, which is configured to measure one or more parameters of the end actuator, by example. In one aspect, the strain gauge sensor 474 can measure the amplitude or magnitude of mechanical stress exerted on a grip member of an end actuator during a gripping operation, which can be indicative of tissue compression. The measured effort is converted into a digital signal and fed to the process.

A sensor 462 of a microcontroller 461. A load sensor 476 can measure the force used to operate the knife element, for example, to cut tissue captured between the anvil and the staple cartridge. A load sensor 476 can measure the force used to operate the clamp arm element, for example to capture tissue between the clamp arm and an ultrasonic blade or to capture tissue between the clamp arm and a claw of a electrosurgical instrument. A magnetic field sensor can be used to measure the thickness of the captured tissue. The magnetic field sensor measurement can also be converted to a digital signal and fed to the 462 processor.

[0184] Measurements of tissue compression, tissue thickness and/or force required to close the end actuator on tissue, as respectively measured by sensors 474, 476, can be used by the microcontroller 461 to characterize the position selected of the firing member and/or the corresponding value of the velocity of the firing member. In one case, a memory 468 can store a technique, an equation, and/or a lookup table that can be used by the microcontroller 461 in evaluation.

[0185] The control system 470 of the surgical instrument or tool may also comprise wired or wireless communication circuits for communication with the modular communication central controller shown in Figures 8 to 11.

[0186] Figure 13 illustrates a control circuit 500 configured to control aspects of the surgical instrument or tool in accordance with an aspect of this disclosure. Control circuit 500 can be configured to implement various processes described in the present invention. Control circuit 500 may comprise a microcontroller comprising one or more processors 502 (e.g., microprocessor, microcontroller) coupled to at least one memory circuit 504.

machine executable instructions that, when executed by processor 502, cause processor 502 to execute machine instructions to implement several of the processes described herein. Processor 502 can be any one of a number of single-core or multi-core processors known in the art. Memory circuit 504 can comprise both volatile and non-volatile storage media. Processor 502 may include an instruction processing unit 506 and an arithmetic unit 508. The instruction processing unit may be configured to receive instructions from the memory circuit 504 of this disclosure.

[0187] Figure 14 illustrates a combinational logic circuit 510 configured to control aspects of the instrument or surgical tool in accordance with an aspect of the present disclosure. Combinational logic circuit 510 may be configured to implement various processes described in the present invention. Combinational logic circuit 510 may comprise a finite state machine comprising combinational logic 512 configured to receive data associated with the surgical instrument or tool at an input 514, process the data by combinational logic 512, and provide an output. 516.

[0188] Figure 15 illustrates a sequential logic circuit 520 configured to control aspects of the instrument or surgical tool in accordance with an aspect of the present disclosure. Sequential logic circuit 520 or combinational logic 522 can be configured to implement the process described herein. Sequential logic circuit 520 may comprise a finite state machine. Sequential logic circuit 520 may comprise combinational logic 522, at least one memory circuit 524, a clock 529, and for example. The at least one memory circuit 524 can store a current state of the finite state machine. In certain cases, sequential logic circuit 520 can be either synchronous or asynchronous. Combinational logic 522 is configured to receive data associated with the surgical instrument or tool from an input 526, process the data by combinational logic 522, and provide an output 528. In other aspects, the circuit may comprise a combination of a processor ( for example, processor 502, Fig. 13) and a finite state machine to implement various processes of the present invention. In other aspects, the finite state machine may comprise a combination of a combinational logic circuit (eg, combinational logic circuit 510, Fig. 14) and sequential logic circuit 520.

[0189] Figure 16 illustrates an instrument or surgical tool that comprises a plurality of motors that can be activated to perform various functions. In certain cases, a first engine may be activated to perform a first function, a second engine may be activated to perform a second function, a third engine may be activated to perform a third function, a fourth engine may be activated to perform a fourth function, and so on. In certain cases, the plurality of motors of the robotic surgical instrument 600 can be individually activated to cause triggering, closing, and/or articulating motions in the end actuator. The firing, closing and/or linkage movements can be transmitted to the end actuator via a drive shaft assembly, for example.

[0190] In certain cases, the surgical instrument or tool system may include a trigger motor 602. The trigger motor 602 may be operatively coupled to a trigger motor drive assembly 604 which may be configured to transmit motor - tripping movements, generated by the 602 motor to the end actuator;

de, particularly to displace the closure member of the clamping arm. The closing member can be retracted by reversing the direction of the 602 motor, which also causes the clamping arm to open.

[0191] In certain cases, the surgical instrument or tool may include a 603 closure motor. The 603 closure motor can be operatively coupled to a 605 closure motor drive assembly that can be configured to transmit motions. closures, generated by the motor 603 to the end actuator, particularly to move a closure tube to close the anvil and compress tissue between the anvil and the staple cartridge. The closure motor 603 can be operatively coupled to a closure motor drive assembly 605 which can be configured to transmit closing motions generated by the motor 603 to the end actuator, particularly to move a closure tube to close the closure arm. pinch and compress tissue between the pinch arm and an ultrasonic blade or the pinch arm or claw member of an electrosurgical device. Closing movements can cause the end actuator to transition from an open setting to a coarse setting to capture tissue, for example. The tip actuator can be transitioned to an open position by reversing the direction of the 603 motor.

[0192] In certain cases, the surgical instrument or tool may include one or more articulation motors 606a, 606b, for example. Motors 606a, 606b may be operatively coupled to pivot motor drive assemblies 608a, 608b, which may be configured to transmit pivot motions generated by motors 606a, 606b to the end actuator. In certain cases, joint movements can cause the

end pain is articulated in relation to the drive shaft assembly, for example.

[0193] As described above, the surgical instrument or tool may include a plurality of motors that can be configured to perform various independent functions. In certain cases, the plurality of motors of the surgical instrument or tool can be activated individually or separately to perform one or more functions, while other motors remain inactive. For example, the 606a, 606b linkage motors can be activated to cause the end actuator to link up, while the 602 trigger motor remains inactive. Alternatively, the 602 trigger motor can be activated to trigger the plurality of clamps, and/or advance the cutting edge, while the 606 linkage motor remains inactive. In addition, the 603 closure motor can be activated simultaneously with the 602 trigger motor to cause the closure tube or closure member to advance distally as described in more detail later in this document.

[0194] In certain cases, the surgical instrument or tool may include a common control module 610 that can be used with a plurality of motors of the surgical instrument or tool. In certain cases, the common control module 610 can accommodate one of a plurality of motors at a time. For example, the common control module 610 may be attachable to and detachable from the plurality of motors of the robotic surgical instrument individually. In certain cases, a plurality of surgical instrument or tool motors may share one or more common control modules, such as common control module 610. In certain cases, a plurality of surgical instrument or tool motors may be individually and selected. fully engaged to the common control module 610. In certain cases,

common control module 610 may be selectively toggled between interfacing with one of a plurality of surgical instrument or tool motors to interfacing with another of a plurality of surgical instrument or tool motors.

[0195] In at least one example, the common control module 610 can be selectively switched between operational engagement with linkage motors 606a, 606B, and operational engagement with trigger motor 602 or closing motor 603. In at least one example, as illustrated in Figure 16, a switch 614 may be moved or transitioned between a plurality of positions and/or states. In first position 616, switch 614 can electrically couple common control module 610 to trigger motor 602; in a second position 617, switch 614 can electrically couple control module 610 to closing motor 603; in a third position 618a, switch 614 can electrically couple common control module 610 to first pivot motor 606a; and at a fourth position 618b, switch 614 can electrically couple common control module 610 to second link motor 606b, for example. In certain cases, separate common control modules 610 may be electrically coupled to the trigger motor 602, the closing motor 603, and the link motors 606a, 606b at the same time. In certain cases, the 614 switch can be a mechanical switch, an electromechanical switch, a solid-state switch, or any suitable switching mechanism.

[0196] Each of the 602, 603, 606a, 606b motors may comprise a torque sensor to measure the output torque at the motor drive shaft. The force on a tip actuator can be detected in any conventional way, such as through force sensors on the outer sides of the grips or by a torque sensor from the motor that drives the grips.

[0197] In several cases, as illustrated in Figure 16, the common control module 610 may comprise a motor driver 626 which may comprise one or more H-bridge FETs. The motor driver 626 may modulate power transmitted from a power supply 628 to a motor coupled to the common control module 610, based on an input from a microcontroller 620 (the "controller"), for example. In certain cases, the microcontroller 620 can be used to determine the current drawn by the motor, for example, while the motor is coupled to the common control module 610, as described above.

[0198] In certain examples, the microcontroller 620 may include a microprocessor 622 (the "processor") and one or more non-transient computer readable media or memory units 624 (the "memory"). In certain cases, memory 624 can store several program instructions which, when executed, can cause processor 622 to perform a plurality of functions and/or calculations described herein. In certain cases, one or more of the memory units 624 may be coupled to processor 622, for example. In various aspects, the microcontroller 620 can communicate over a wired or wireless channel, or combinations thereof.

[0199] In certain cases, the 628 power supply can be used to supply power to the 620 microcontroller, for example. In certain cases, power source 628 may comprise a battery (or "battery pack" or "battery"), such as a Li-ion battery, for example. In certain cases, the battery pack can be configured to releasably mount to the handle to supply power to the Surgical Instrument 600. Multiple battery cells connected in series can be used as the power source 628. In certain cases, power source 628 may be replaceable and/or rechargeable, for example.

[0200] In various cases, the processor 622 can control the motor driver 626 to control the position, direction of rotation, and/or speed of a motor that is coupled to the common control module 610. In these cases, the processor 622 may signal the motor driver 626 to stop and/or disable a motor that is coupled to the common control module 610. It should be understood that the term "processor" as used here , includes any suitable microprocessor, microcontroller or other basic computing device that incorporates the functions of a computer central processing unit (CPU) into an integrated circuit or, at the most, some integrated circuits. The 622 processor is a multipurpose programmable device that accepts digital data as input, processes it according to instructions stored in its memory, and provides results as output. This is an example of sequential digital logic as it has internal memory. Processors operate on numbers and symbols represented in the binary numeral system.

[0201] In one example, the 622 processor can be any single-core or multi-core processor, such as those known under the trade name ARM Cortex from Texas Instruments. In certain cases, the 620 microcontroller may be an LM 4F230H5QR, available from Texas Instruments, for example. In at least one example, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4F processor core comprising a 256KB single-cycle flash-type integrated memory, or other non-volatile memory, up to 40 MHz, a pre-fetch buffer for optimize performance above 40 MHz, a 32KB single-cycle SRAM, an internal ROM loaded with StellarisWare® software, 2KB EEPROM, one or more PWM modules, one or more IQ analogues, one or more plus 12-bit ADCs with 12 analog input channels, den-

tre other resources that are readily available to the product data sheet. Other microcontrollers can be readily replaced for use with the 4410 module. Consequently, this disclosure should not be limited in this context.

[0202] In certain cases, memory 624 may include program instructions for controlling each of the motors of surgical instrument 600 that are attachable to common control module 610. For example, memory 624 may include program instructions for controlling the trigger motor 602, the closing motor 603 and the link motors 606a, 606b. Such program instructions can cause the 622 processor to control the firing, closing, and articulation functions according to inputs from the instrument or surgical tool control algorithms or programs.

[0203] In certain cases, one or more mechanisms and/or sensors, such as sensors 630, can be used to alert processor 622 to program instructions that need to be used in a specific configuration. For example, the 630 sensors can prompt the 622 processor to use the program instructions associated with triggering, closing, and pivoting the end actuator. In certain cases, sensors 630 may comprise position sensors that can be used to detect the position of switch 614, for example. Accordingly, processor 622 can use program instructions associated with triggering the closure member coupled to the clamping arm of the end actuator upon sensing, via sensors 630, for example, that switch 614 is in first position 616; processor 622 may use program instructions associated with closing the anvil upon detection via sensors 630, for example, that switch 614 is in second position 617; and processor 622 can use the program instructions associated with pivoting the end actuator upon sensing via sensors 630, for example, that switch 614 is in the third or fourth position 618a, 618b.

[0204] Figure 17 is a schematic diagram of a robotic surgical instrument 700 configured to operate a surgical tool described herein, in accordance with an aspect of this disclosure. The Robotic Surgical Instrument 700 can be programmed or configured to control the distal/proximal translation of a displacement member, the distal/proximal displacement of a closure tube, the rotation of the drive shaft, and articulation, or with a single type or multiple linkage drive links. In one aspect, surgical instrument 700 can be programmed or configured to individually control a trigger member, a closure member, a drive shaft member, or one or more pivot members, or combinations thereof. Surgical instrument 700 comprises a control circuit 710 configured to control motor-actuated trigger members, closure members, drive shaft members, or one or more pivot members, or combinations thereof.

[0205] In one aspect, the robotic surgical instrument 700 comprises a control circuit 710 configured to control a clamp arm 716 and a closure member 714, a portion of an end actuator 702, an ultrasonic blade 718 coupled to an ultrasonic transducer 719 driven by an ultrasonic generator 721, a drive shaft 740, and one or more pivot members 742a, 742b through a plurality of motors 704a to 704e. A position sensor 734 can be configured to provide feedback on the position of closure member 714 to control circuit 710. Other sensors 738 can be configured to provide feedback to control circuit 710. A timer/counter 731 provides information. timing and counting formations to the 710 control circuit. A 712 power source may be provided to operate the 704a through 704e motors and a 736 current sensor provides motor current feedback to the 710 control circuit. The 704a through 704e motors may be operated individually by the 710 control circuit in an open-loop or closed-loop feedback control.

[0206] In one aspect, the control circuit 710 may comprise one or more microcontrollers, microprocessors or other processors suitable for executing instructions that cause the processor or processors to perform one or more tasks. In one aspect, a timer/counter 731 provides an output signal, such as elapsed time or a digital count, to control circuit 710 to correlate the position of closure member 714 as determined by the position sensor. 734 with the output of the timer/counter 731 so that the control circuit 710 can determine the position of the closing member 714 at a specific moment (t) with respect to a start position or time (t ) when the closing member 714 is in a specific position relative to a starting position. The 731 timer/counter can be configured to measure elapsed time, count external events, or measure external events.

[0207] In one aspect, control circuit 710 can be programmed to control functions of end actuator 702 based on one or more tissue conditions. The 710 control circuit can be programmed to directly or indirectly detect tissue conditions such as thickness as described here. Control circuit 710 can be programmed to select a trigger control program or close control program based on tissue conditions. A trigger control program can describe the motion.

distal end of the displacement member. Different trigger control programs can be selected to best handle different tissue conditions. For example, when thicker tissue is present, control circuit 710 can be programmed to translate the displacement member at a slower speed and/or with lower power. When thinner tissue is present, control circuit 710 can be programmed to translate the displacement member at a higher speed and/or with greater power. A closure control program can control the closure force applied to the fabric by the clamp arm 716. Other control programs control the rotation of the drive shaft 740 and linkage members 742a, 742b.

[0208] In one aspect, control circuit 710 can generate motor setpoint signals. Motor setpoint signals can be provided for various 708a through 708e motor controllers. Motor controllers 708a-708e may comprise one or more circuits configured to provide motor drive signals to motors 704a-704e in order to drive motors 704a-704e, as described herein. In some examples, the motors 704a through 704e may be brushed DC electric motors. For example, the speed of motors 704a to 704e may be proportional to the respective motor drive signals. In some examples, motors 704a to 704e can be brushless DC electric motors, and the respective motor drive signals can comprise a PWM signal provided to one or more stator windings of motors 704a to 704e. Also, in some examples, the 708a to 708e motor controllers can be omitted and the 710 control circuit can directly generate the motor drive signals.

[0209] In one aspect, the 710 control circuit can operate initiating.

effectively each of motors 704a to 704e in an open circuit configuration to a first open circuit portion of the displacement member stroke. Based on the response of robotic surgical instrument 700 during the open-loop portion of the stroke, control circuit 710 can select a trigger control program in a closed-loop configuration. The instrument's response may include a translation of the displacement member's distance during the open circuit portion, a time elapsed during the open circuit portion, the power supplied to one of the motors 704a to 704e during the circuit portion. open, a sum of pulse widths of a motor drive signal, etc. After the open circuit portion, the control circuit 710 can implement the selected trigger control program for a second portion of the displacement member stroke. For example, during a portion of the closed-loop stroke, control circuit 710 may modulate one of motors 704a to 704e based on translating data describing a closed-loop shift member position to translate the shift member. at a constant speed.

[0210] In one aspect, the engines 704a through 704e can be powered by a 712 power source. The 712 power source can be a DC power source powered by an alternating main current power source, a battery, a super. capacitor, or any other suitable power source. Motors 704a-704e can be mechanically coupled to individual movable mechanical elements such as closure member 714, clamp arm 716, drive shaft 740, linkage 742a, and linkage 742b, through respective transmissions 706a-706e. Transmissions 706a through 706e may include one or more gears or other linkage components to couple motors 704a through 704e to moving mechanical elements. A position sensor 734 can detect a position of closure member 714. Position sensor 734 can be or can include any type of sensor that is capable of generating position data that indicates a position of closure member 714. In some examples, position sensor 734 may include an encoder configured to deliver a series of pulses to control circuit 710 as closure member 714 translates distally and proximally. The control circuit 710 can track the pulses to determine the position of the closing member 714. Other suitable position sensors can be used, including, for example, a proximity sensor. Other types of position sensors may provide other signals that indicate the movement of the closure member 714. Also, in some examples, the position sensor 734 may be omitted. When any of the motors 704a through 704e is a stepper motor, the control circuit 710 can track the position of the closure member 714 by aggregating the number and direction of steps that the motor 704 has been instructed to perform. Position sensor 734 can be located on end actuator 702 or any other portion of the instrument. The outputs of each of the 704a to 704e motors include a torque sensor 744a to 744e to sense force and have an encoder to detect the rotation of the drive shaft.

[0211] In one aspect, control circuit 710 is configured to drive a trigger member, such as closing member portion 714 of end actuator 702. Control circuit 710 provides a motor setpoint for a 708a motor control which provides a drive signal to the 704a motor. The 704a motor output drive shaft is coupled to a 744a torque sensor. Torque sensor 744a is coupled to a transmission 706a which is coupled to the closure member

714. Transmission 706a comprises movable mechanical elements such as rotary elements and a trigger member for distally and proximally controlling movement of closure member 714 along a longitudinal axis of end actuator 702. In one aspect, the motor 704a may be coupled to a knife gear assembly, which includes a knife gear reduction assembly that includes a first knife drive gear and a second knife drive gear. A torque sensor 744a provides a trigger force feedback signal to the control circuit 710. The trigger force signal represents the force required to trigger or displace the closure member 714. A position sensor 734 can be configured to providing the position of closure member 714 along the firing stroke or firing member position as a feedback signal to control circuit 710. End actuator 702 may include additional sensors 738 configured to provide signals to the 710 control circuit. When ready for use, the 710 control circuit can provide a trigger signal to the 708a motor control. In response to the trigger signal, the motor 704a may drive the trigger member distally along the longitudinal axis of the end actuator 702 from an initial proximal stroke position to a distal end position of the relative stroke. to the starting position of course. As closure member 714 translates distally, clamp arm 716 closes toward ultrasonic blade 718.

[0212] In one aspect, control circuit 710 is configured to drive a closure member, such as clamp arm portion 716 of end actuator 702. Control circuit 710 provides a motor setpoint for a control. of the 708b engine, which provides a start signal to the 704b engine. The output shaft of the 704b motor is coupled to a 744b torque sensor. Torque sensor 744b is coupled to a transmission 706b that is coupled to clamp arm 716. Transmission 706b comprises movable mechanical elements such as rotating elements and a closure member to control movement of clamp arm 716 from positions open and closed. In one aspect, the motor 704b is coupled to a closure gear assembly, which includes a closure reduction gear assembly that is supported in meshed engagement with the closure sprocket. The 744b torque sensor provides a closing force feedback signal to the control circuit.

710. The closing force feedback signal represents the closing force applied to the clamping arm 716. Position sensor 734 can be configured to provide the position of the closing member as a feedback signal to the circuit control 710. Additional sensors 738 on end actuator 702 can provide closing force feedback signal to control circuit 710. Pivot clamp arm 716 is positioned opposite ultrasonic blade 718. When ready to In use, the 710 control circuit can provide a close signal to the 708b motor control. In response to the close signal, motor 704b advances a closure member to grip tissue between clamp arm 716 and ultrasonic blade 718.

[0213] In one aspect, control circuit 710 is configured to rotate a drive shaft member, such as drive shaft 740, to rotate end actuator 702. Control circuit 710 provides a setpoint from the engine to a 708c engine control, which provides a start signal to the 704c engine. The output shaft of the 704c motor is coupled to a 744c torque sensor. Torque sensor 744c is coupled to a transmission 706c that is coupled to shaft 740. Transmission 706c comprises moving mechanical elements, such as rotating elements, to control the rotation of drive shaft 740 clockwise or anticlockwise. -time up to and above 360°. In one aspect, the motor 704c is coupled to the swivel drive assembly, which includes a tube gear segment that is formed over (or secured to) the proximal end of the proximal closure tube for assembly operable engagement. of rotational gear that is operationally supported on the tool mounting plate. Torque sensor 744c provides a rotation force feedback signal to control circuit 710. The rotation force feedback signal represents the rotation force applied to the drive shaft

740. Position sensor 734 can be configured to provide the position of the closure member as a feedback signal to control circuit 710. Additional sensors 738, such as a drive shaft encoder, can provide the rotational position of the drive shaft 740 to control circuit 710.

[0214] In one aspect, the 710 control circuit is configured to pivot the 702 end actuator. The 710 control circuit provides a motor setpoint to a 708d motor control, which provides a drive signal to the engine 704d. The 704d motor output drive shaft is coupled to a 744d torque sensor. Torque sensor 744d is coupled to a transmission 706d that is coupled to a pivot member 742a. The 706d transmission comprises moving mechanical elements, such as linkage elements, to control the linkage of the 702 ± 65° end actuator. In one aspect, the motor 704d is coupled to a pivot nut, which is pivotally seated on the proximal end portion of the distal column portion and is pivotally driven thereto by a pivot gear assembly. The 744d torque sensor provides a pivot force feedback signal to the 710 control circuit. The pivot force feedback signal represents the pivot force applied to the 702 tip actuator. a hinge encoder, can provide the hinge position of the end actuator 702 to the control circuit 710.

[0215] In another aspect, the joint function of the robotic surgical system 700 may comprise two joint members, or links, 742a, 742b. These pivot members 742a, 742b are driven by separate disks at the robot interface (the rack), which are driven by the two motors 708d, 708e. When separate firing motor 704a is provided, each pivot linkage 742a, 742b can be driven antagonistically relative to the other linkage to provide resistive holding motion and a load to the head when it is not moving and to stop. provide a pivotal movement when the head is pivoted. Pivot members 742a, 742b attach to the head at a fixed radius when the head is rotated. Consequently, the mechanical advantage of the push and pull link changes when the head is rotated. This change in mechanical advantage may be more pronounced with other pivot linkage drive systems.

[0216] In one aspect, the one or more motors 704a to 704e may comprise a brushed DC motor with a gearbox and mechanical connections to a trigger member, closure member or pivot member. Another example includes electric motors 704a to 704e that operate moving mechanical elements such as the displacement member, the pivot links, the closure tube and the drive shaft. An external influence is an inordinate and unpredictable influence of things like tissue, surrounding bodies, and friction in the physical system. This external influence can be called drag, which acts in opposition to one of the motors.

electric res 704a to 704e. External influence, such as drag, can cause the functioning of the physical system to deviate from a desired operation of the physical system.

[0217] In one aspect, the position sensor 734 can be implemented as an absolute positioning system. In one aspect, position sensor 734 may comprise an absolute rotating magnetic positioning system implemented as a single integrated circuit rotating magnetic position sensor, AS5055EQFT, available from Austria Microsystems, AG. Position sensor 734 can interface with control circuit 710 to provide an absolute positioning system. The position can include multiple Hall effect elements situated above a magnet and coupled to a CORDIC processor, also known as the digit-by-digit method and Volder algorithm, which is provided to implement a simple and efficient algorithm for calculating hyperbolic and trigonometric functions that require only addition, subtraction, bit shifting, and table lookup operations.

[0218] In one aspect, control circuit 710 may be in communication with one or more sensors 738. Sensors 738 may be positioned on end actuator 702 and adapted to work with robotic surgical instrument 700 to measure various derived parameters such as span distance to time, tissue compression to time, and anvil deformation to time. Sensors 738 may comprise a magnetic sensor, a magnetic field sensor, a strain gauge, a load cell, a pressure sensor, a force sensor, a torque sensor, an inductive sensor such as a sensor eddy current, a resistive sensor, a capacitive sensor, an optical sensor, and/or any other sensor suitable for measuring one or more parameters of the end actuator 702. Sensors 738 may include one or more sensors. Sensors 738 can be located on pinch arm 716 to determine tissue location using segmented electrodes. Torque sensors 744a through 744e can be configured to detect forces such as trip force, close force, and/or pivot force, among others. Consequently, the control circuit 710 can detect (1) the closing load experienced by the distal closing tube and its position, (2) the firing member on the rack and its position, (3) which portion of the blade Ultrasonic 718 has tissue in it, and (4) the load and position on both pivot rods.

[0219] In one aspect, the one or more sensors 738 may comprise a strain gauge, such as a micro strain gauge, configured to measure the magnitude of strain on the anvil 716 during a stuck condition. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. Sensors 738 may comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between clamp arm 716 and ultrasonic blade 718. Sensors 738 may be configured to detect the impedance of a section of tissue situated between the clamping arm 716 and the ultrasonic blade 718 which is indicative of the thickness and/or completeness of the tissue situated between them.

[0220] In one aspect, 738 sensors can be implemented as one or more limit switches, electromechanical devices, solid state switches, Hall effect devices, magneto-resistive (MR) devices, giant magneto-resistive devices (GMR), magnetometers, among others. In other implementations, sensors 738 can be implemented as solid-state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. Furthermore,

switches can be solid-state devices such as transistors (eg, FET, Junction FET, MOSFET, bipolar, and the like). In other implementations, the 738 sensors can include conductorless electrical switches, ultrasonic switches, accelerometers, and inertia sensors, among others.

[0221] In one aspect, the sensors 738 can be configured to measure the forces exerted on the clamping arm 716 by the closing drive system. For example, one or more sensors 738 may be at an interaction point between the closure tube and the clamp arm 716 to detect the closure forces applied by the closure tube to the clamp arm 716. grip 716 can be representative of the tissue compression experienced by the tissue section captured between the grip arm 716 and the ultrasonic blade 718. The one or more sensors 738 can be positioned at various interaction points along the drive system. lock to detect the closing forces applied to the clamping arm 716 by the closing drive system. The one or more sensors 738 can be sampled in real-time during a hold operation by the control circuit processor 710. The control circuit 710 receives real-time sample measurements to provide and analyze time-based information and evaluate, real-time closing forces applied to the clamping arm 716.

[0222] In one aspect, a current sensor 736 can be used to measure the current drawn by each of the motors 704a through 704e. The force required to advance any of the moving mechanical elements such as the closure member 714 corresponds to the current drawn by one of the motors 704a to 704e. Power is converted to a digital signal and supplied to the 710 control circuit. The 710 control circuit can be configured to simulate the instrument's actual system response in the controller software. A displacement member can be actuated to move the closure member 714 on the end actuator 702 at or near a target speed. Robotic surgical instrument 700 may include a feedback controller, which may be one or any of the feedback controllers, including, but not limited to, a PID controller, state feedback, linear quadratic (LQR) and/ or an adaptive controller, for example. Robotic surgical instrument 700 may include a power source to convert the feedback controller signal into a physical input such as case voltage, PWM voltage, frequency modulated voltage, current, torque and/or force, for example. Additional details are disclosed in US Patent Application Serial No. 15/636,829 entitled CLOSED LOOP VELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICAL INSTRUMENT, filed June 29, 2017, which is incorporated herein by reference in its entirety.

[0223] Figure 18 illustrates a schematic diagram of a surgical instrument 750 configured to control the distal translation of the displacement member in accordance with an aspect of the present disclosure. In one aspect, surgical instrument 750 is programmed to control distal translation of the displacement member as closure member 764. Surgical instrument 750 comprises an end actuator 752 which may comprise a clamping arm 766, a clamping member. 764 closure and a 768 ultrasonic blade coupled to a 769 ultrasonic transducer driven by a 771 ultrasonic generator.

[0224] The position, movement, displacement, and/or translation of a linear displacement member, such as the closure member 764, can be measured by an absolute positioning system, sensor array, and a position sensor 784. Because the closure member 764 is coupled to a longitudinally movable drive member, the position of the closure member 764 can be determined by measuring the position of the longitudinally movable drive member using position sensor 784. In the foregoing description, the position, displacement and/or translation of the closure member 764 may be obtained by the position sensor 784 as described in the present invention. A control circuit 760 may be programmed to control the translation of the displacement member, such as a closure member 764. The control circuit 760, in some examples, may comprise one or more microcontrollers, microprocessors, or other processors. suitable for executing instructions that cause the processor or processors to control the displacement member, e.g., closing member 764, in the manner described. In one aspect, a timer/counter 781 provides an output signal, such as elapsed time or a digital count, to control circuit 760 to correlate the position of closure member 764 as determined by position sensor 784 with the output of timer/counter 781 so that control circuit 760 can determine the position of closure member 764 at a specific time (t) relative to an initial position. The 781 timer/counter can be configured to measure elapsed time, count external events, or measure eternal events.

[0225] The 760 control circuit can generate a 772 motor setpoint signal. The 772 motor setpoint signal can be provided to a 758 motor controller. The 758 motor controller can comprise one or more circuits configured to provide a drive signal from the 774 motor to the 754 motor to drive the 754 motor, as described in the present invention. In some examples, the 754 motor may be a DC motor with a brushed DC electric motor. For example, the speed of the 754 motor may be proportional to the drive signal of the 774 motor. In some examples, the 754 motor may be a brushless DC electric motor and the 774 motor drive signal may comprise a PWM signal provided to a or more stator windings of motor 754. Also, in some examples, motor controller 758 may be omitted, and control circuit 760 may generate motor drive signal 774 directly.

[0226] The 754 motor can receive power from a power source

762. Power source 762 may be or include a battery, super capacitor, or any other suitable power source. Motor 754 may be mechanically coupled to closure member 764 via a transmission 756. Transmission 756 may include one or more gears or other linkage components to couple motor 754 to closure member 764. A position sensor 784 can detect a position of closure member 764. Position sensor 784 can be or can include any type of sensor that is capable of generating position data that indicates a position of closure member 764. position sensor 784 may include an encoder configured to supply a series of pulses to control circuit 760 as closure member 764 translates distally and proximally. Control circuit 760 can track the pulses to determine the position of closure member 764. Other suitable position sensors can be used, including, for example, a proximity sensor. Other types of position sensors may provide other signals that indicate the movement of the closure member 764. Also, in some examples, the position sensor 784 may be omitted. When the 754 motor is a stepper motor, the 760 control circuit can track the position of the 764 closure member by adding the number and orientation of steps that the 754 motor has been instructed to perform. The 784 position sensor can be located on the 752 end actuator or any other portion of the instrument.

[0227] The 760 control circuit can be in communication with one or more 788 sensors. The 788 sensors can be positioned on the 752 end actuator and adapted to work with the 750 surgical instrument to measure various derived parameters such as distance span versus time, tissue compression versus time, and anvil effort versus time. Sensors 788 may comprise a magnetic sensor, a magnetic field sensor, a strain gauge, a pressure sensor, a force sensor, an inductive sensor such as an eddy current sensor, a resistive sensor, a capacitive sensor, a sensor optical and/or any other sensors suitable for measuring one or more parameters of the end actuator 752. Sensors 788 may include one or more sensors.

[0228] The one or more sensors 788 may comprise a strain gauge, such as a microstrain meter, configured to measure the magnitude of strain on clamp arm 766 during a clamping condition. The voltage meter provides an electrical signal whose amplitude varies with the magnitude of the voltage. Sensors 788 may comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between clamp arm 766 and ultrasonic blade 768. Sensors 788 may be configured to detect the impedance of a section of tissue located between the clamping arm 766 and the ultrasonic blade 768 which is indicative of the thickness and/or completeness of the tissue located between them.

[0229] The 788 sensors can be configured to measure the forces exerted on the 766 clamping arm by the closing drive system. For example, one or more sensors 788 may be at an interaction point between a closure tube and clamp arm 766 to detect the closure forces applied by a closure tube to clamp arm 766. the clamping arm 766 can be representative of the tissue compression experienced by the tissue section captured between the clamping arm 766 and the ultrasonic blade 768. The one or more sensors 788 can be positioned at various interaction points along the way. of the close drive system to detect the closing forces applied to the clamping arm 766 by the close drive system. The one or more 788 sensors can be sampled in real time during a hold operation by a control circuit processor

760. The 760 control circuit receives real-time sample measurements to provide and analyze time-based information and evaluate, in real-time, the closing forces applied to the clamp arm

766.

[0230] A 786 current sensor can be used to measure the current drawn by the 754 motor. The force required to advance the 764 closing member corresponds to the current drawn by the 754 motor. The force is converted to a digital signal and supplied to the 760 control circuit.

[0231] The 760 control circuit can be configured to simulate the actual system response of the instrument in the controller software. A displacement member can be actuated to move a closure member 764 on end actuator 752 at or near a target speed. The surgical instrument 750 may include a feedback controller, which may be one of any feedback controllers, including, but not limited to, a PID controller, a state feedback controller, LQR, and/or an adaptive controller, per example. The surgical instrument 750 may include a power source to convert the feedback controller signal into a physical input such as frame voltage, PWM voltage, frequency modulated voltage, current, torque and/or force, by example.

[0232] The actual drive system of the surgical instrument 750 is configured to drive the displacement member, cutting member or closing member 764, by a DC motor with gearbox brushes and mechanical connections to a system of articulation and/or knife. Another example is the electric motor 754 which operates the displacement member and pivot driver of, for example, an interchangeable drive shaft assembly. An external influence is an unmeasured and unpredictable influence of things like tissue, surrounding bodies, and friction in the physical system. This external influence can be called drag, which acts in opposition to the electric motor 754. External influence, such as drag, can cause the functioning of the physical system to deviate from a desired operation of the physical system.

[0233] Several exemplifying aspects are directed to a surgical instrument 750 comprising an end actuator 752 with motor-driven surgical sealing and cutting implements. For example, a 754 motor may drive a displacement member distally and proximally along a longitudinal axis of the 752 end actuator. The 752 end actuator may comprise a 766 pivot pinch arm and, when configured for use , an ultrasonic blade 768 positioned opposite the clamp arm 766. A physician may hold tissue between the clamp arm 766 and the ultrasonic blade 768, as described in the present invention. When ready to use the instrument 750, the clinician can provide a trigger signal, for example, by pressing a trigger of the instrument 750. In response to the trigger signal, the motor 754 may drive the displacement member distally along the axis. long geometric

end actuator 752 from a proximal stroke start position to an end position distal to the stroke start position. As the displacement member travels distally, the closure member 764 with a cutting member positioned at a distal end, can cut tissue between the ultrasonic blade 768 and the clamping arm 766.

[0234] In various examples, the surgical instrument 750 may comprise a control circuit 760 programmed to control the distal translation of the displacement member, such as the closure member 764, for example, based on one or more tissue conditions. . The 760 control circuit can be programmed to directly or indirectly detect tissue conditions, such as thickness, as described here. Control circuit 760 can be programmed to select a control program based on fabric conditions. A control program can describe the distal movement of the displacement member. Different control programs can be selected to best handle different tissue conditions. For example, when thicker tissue is present, control circuit 760 can be programmed to translate the displacement member at a lower speed and/or with lower power. When thinner tissue is present, the 760 control circuit can be programmed to translate the displacement member at a higher speed and/or with greater power.

[0235] In some examples, the 760 control circuit may initially operate the 754 motor in an open circuit configuration for a first open circuit portion of a displacement member stroke. Based on a response from instrument 750 during the open circuit portion of the stroke, control circuit 760 can select a trigger control program. The instrument response may include a displacement member translation distance during the open loop portion, a time elapsed during the open loop portion, the power supplied to the motor 754 during the open loop portion, a sum of pulse widths of a motor drive signal, etc. After the open circuit portion, the control circuit 760 can implement the selected trigger control program for a second portion of the displacement member stroke. For example, during the closed-loop portion of the stroke, the control circuit 760 can modulate the motor 754 based on translation data that describes a position of the shifting member in a closed-loop manner to translate the shifting member. at a constant speed. Additional details are disclosed in US Patent Application Serial No. 15/720,852 entitled SYSTEM AND METHODS FOR CONTROLLING A DISPLAY OF A SURGICAL INSTRUMENT, filed September 29, 2017, which is incorporated herein by reference. in its entirety.

[0236] Figure 19 is a schematic diagram of a surgical instrument 790 configured to control various functions in accordance with an aspect of the present disclosure. In one aspect, the 790 surgical instrument is programmed to control the distal translation of a displacement member as the closing member.

764. The surgical instrument 790 comprises an end actuator 792 that may comprise a clamping arm 766, a closure member 764, and an ultrasonic blade 768 that can be interchanged with or co-operated with one or more electrodes. of RF 796 (shown in dashed line). The 768 ultrasonic blade is coupled to a 769 ultrasonic transducer driven by a 771 ultrasonic generator.

[0237] In one aspect, the 788 sensors can be implemented as a limit switch, electromechanical device, sensor switches.

solid data, Hall effect devices, RM devices, GMR devices, magnetometers, among others. In other implementations, the 638 sensors can be solid-state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. In addition, switches can be solid-state devices such as transistors (eg, FET, Junction FET, MOSFET, bipolar, and the like). In other implementations, 788 sensors can include conductorless electrical switches, ultrasonic switches, accelerometers and inertia sensors, among others.

[0238] In one aspect, the 784 position sensor can be implemented as an absolute positioning system, which comprises an absolute rotating magnetic positioning system implemented as an integrated circuit rotating magnetic position sensor unique AS5055EQFT, available from Austria Microsystems, AG. Position sensor 784 can interface with control circuit 760 to provide an absolute positioning system. The position can include multiple Hall effect elements situated above a magnet and coupled to a CORDIC processor, also known as the digit-by-digit method and Volder algorithm, which is provided to implement a simple and efficient algorithm to calculate hyperbolic functions. and trigonometrics that require only addition, subtraction, bit-shifting, and table lookup operations.

[0239] In some examples, position sensor 784 may be omitted. When motor 754 is a stepper motor, control circuit 760 can track the position of closure member 764 by aggregating the number and orientation of steps the motor has been instructed to perform. Position sensor 784 may be located on end actuator 792 or any other portion of the instrument.

[0240] The 760 control circuit can be in communication with one or more 788 sensors. The 788 sensors can be positioned on the 792 end actuator and adapted to work with the 790 surgical instrument to measure various derived parameters such as distance span versus time, tissue compression versus time, and anvil effort versus time. Sensors 788 may comprise a magnetic sensor, a magnetic field sensor, a strain gauge, a pressure sensor, a force sensor, an inductive sensor such as an eddy current sensor, a resistive sensor, a capacitive sensor, a sensor optical and/or any other sensors suitable for measuring one or more parameters of the end actuator 792. Sensors 788 may include one or more sensors.

[0241] A 794 RF power source is coupled to the 792 end actuator and is applied to the 796 RF electrode when the 796 RF electrode is provided in the 792 end actuator in place of the 768 ultrasonic blade or to work in conjunction with the ultrasonic blade 768. For example, the ultrasonic blade is produced from electrically conductive metal and can be used as the return path for RF electrosurgical current. Control circuit 760 controls the delivery of RF energy to RF electrode 796.

[0242] Additional details are disclosed in US patent application Serial No. 15/636,096, entitled SURGICAL SYSTEM COUPLABLE WITH STAPLE CARTRIDGE AND RADIO FREQUENCY CARTRIDGE, AND METHOD OF USING SAME, filed on June 28, 2017, which is incorporated herein by way of reference in its entirety. generator hardware

[0243] In many respects, intelligent ultrasonic power devices can comprise adaptive algorithms to control the operation of the ultrasonic blade. In one aspect, adaptive ultrasonic blade control algorithms are configured to identify tissue type and adjust device parameters. In one aspect, the ultrasonic blade control algorithms are configured to parameterize the tissue type. An algorithm to detect the collagen/tissue ratio to adjust the amplitude of the distal tip of the ultrasonic blade is described in the following section of the present disclosure. Various aspects of intelligent ultrasonic energy devices are described in the present invention in connection, for example, with Figures 12a.

19. Consequently, the following description of adaptive ultrasonic blade control algorithms should be read in conjunction with Figures 12 to 19 and their associated description.

[0244] In certain surgical procedures it would be desirable to use adaptive ultrasonic blade control algorithms. In one aspect, adaptive ultrasonic blade control algorithms can be used to adjust the parameters of the ultrasonic device based on the type of tissue in contact with the ultrasonic blade. In one aspect, the parameters of the ultrasonic device can be adjusted based on the location of tissue within the grips of the ultrasonic end actuator, for example, the location of tissue between the clamping arm and the ultrasonic blade. The impedance of the ultrasonic transducer can be used to differentiate the percentage of tissue that is situated at the distal or proximal end of the tip actuator. The reactions of the ultrasonic device can be based on tissue type or tissue compressibility. In another aspect, the parameters of the ultrasonic device can be adjusted based on the type of tissue identified or on the parameterization. For example, the amplitude of the mechanical displacement of the distal tip of the ultrasonic blade can be adjusted based on the ratio of collagen to elastin in the detected tissue.

during the tissue identification procedure. The tissue collagen to elastin ratio can be detected using a variety of techniques including infrared (IR) surface reflectance and emissivity. The force applied to the fabric by the clamping arm and/or the stroke of the clamping arm to produce span and compression. Electrical continuity through an electrode equipped grip can be used to determine the percentage of the grip that is covered with fabric.

[0245] Figure 20 is a system 800 configured to run adaptive ultrasonic blade control algorithms in a surgical data network comprising a modular communication central controller, according to at least one aspect of the present disclosure. In one aspect, generator module 240 is configured to execute the adaptive ultrasonic blade control algorithm(s) 802. In another aspect, device/instrument 235 is configured to execute the algorithm(s) Adaptive ultrasonic blade control(s) 804. In another aspect, both generator module 240 and device/instrument 235 are configured to execute adaptive ultrasonic blade control algorithms 802, 804.

[0246] The generator module 240 may comprise an isolated patient stage in communication with an uninsulated stage via a power transformer. A secondary winding of the power transformer is contained in the isolated stage and may comprise a tapped configuration (eg a center tapped or a non center tapped configuration) to define the drive signal outputs to deliver signals. powering different surgical instruments, such as an ultrasonic surgical device and an RF electrosurgical instrument, and a multifunctional surgical instrument that includes both ultrasonic and RF energy modes that can be released alone or simultaneously. In particular, the trigger signal outputs can output an ultrasonic trigger signal (for example, a 420V root mean square (RMS) trigger signal for a 241 ultrasonic surgical instrument, and the trigger signal outputs may output a RF electrosurgical trigger signal (eg, a 100V electrosurgical trigger signal) for an RF electrosurgical instrument 241. Aspects of generator module 240 are described herein with reference to Figures 21 and

22.

[0247] Generator module 240 or device/instrument 235 or both are coupled to modular control tower 236 connected to multiple operating room devices such as intelligent surgical instruments, robots and other localized computer devices in the operating room, as described with reference to Figures 8 to 11, for example.

[0248] Figure 21 illustrates an example of a generator 900, which is a form of a generator configured to couple to an ultrasonic instrument and is additionally configured to run adaptive ultrasonic blade control algorithms in a network of surgical data comprising a modular communication central controller as shown in Figure 20. Generator 900 is configured to supply multiple modalities of power to a surgical instrument. Generator 900 provides ultrasonic and RF signals to power a surgical instrument, independently or simultaneously. Ultrasonic and RF signals can be provided alone or in combination and can be provided simultaneously. As indicated above, at least one generator output can provide multiple energy modalities (for example, ultrasonic, bipolar or monopolar RF, irreversible and/or reversible electroporation, and/or microwave energy, among others ) through a single port, and these signals can be provided separately.

from or simultaneously with the end actuator to treat tissue. Generator 900 comprises a processor 902 coupled to a waveform generator 904. The processor 902 and the waveform generator 904 are configured to generate various signal waveforms based on information stored in a buffered memory. to processor 902, not shown for clarity of disclosure. Digital information associated with a waveform is provided to waveform generator 904 which includes one or more DAC circuits to convert the digital input to an analog output. Analog output is provided to an amplifier 1106 for signal conditioning and amplification. The conditioned and amplified output of amplifier 906 is coupled to a power transformer 908. Signals are coupled by power transformer 908 to the secondary side, which is on the patient isolation side. A first signal of a first energy modality is provided to the surgical instrument between the terminals identified as POWER1 and RETURN. A second signal from a second mode of energy is coupled through a 910 capacitor and is supplied to the surgical instrument between the terminals identified as POWER2 and RETURN. It will be recognized that more than two modalities of power can be emitted and therefore the subscript "n" can be used to designate that up to n POWER terminals n can be provided, where n is a positive integer greater than 1. It will also be recognized that up to "n" return paths RETURNn can be provided without departing from the scope of this disclosure.

[0249] A first voltage sensing circuit 912 is coupled across the terminals labeled POWER1 and RETURN path to measure the output voltage between them. A second voltage sensing circuit 924 is coupled across the terminals labeled POWER2 and RETURN path to measure the output voltage between them. A current sensing circuit 914 is arranged in series with the secondary side RETURN leg of the power transformer 908 as shown to measure the output current for any power mode. If different return paths are provided for each power mode, then a separate current sensing circuit would be provided on each return leg. The outputs of the first and second voltage sensing circuits 912, 924 are provided to the respective isolation transformers 916, 922 and the output of the current sensing circuit 914 is provided to another isolation transformer 918 The outputs of isolation transformers 916, 928, 922 on the primary side of power transformer 908 (non-insulated patient side) are provided to one or more ADC 926 circuits. 902 processor for additional processing and computation. The output voltages and output current feedback information can be used to adjust the output voltage and current supplied to the surgical instrument, and to compute the output impedance, among other parameters. Input/output communications between the 902 processor and the isolated patient circuits are provided through a 920 interface circuit. The sensors may also be in electrical communication with the 902 processor through the 920 interface circuit.

[0250] In one aspect, impedance can be determined by processor 902 by dividing the output of the first voltage sensing circuit 912 coupled through the terminals labeled POWER1/RETURN or the second voltage sensing circuit 924 coupled through the terminals identified as POWER2/RETURN by the output of current sensing circuit 914 arranged in series with the RETURN leg of the secondary side of power transformer 908. The outputs of the first and second voltage sensing circuits 912, 924 are provided to separate isolation transformers 916, 922 and the output of current sensing circuit 914 is provided to another isolation transformer 916. Digitized voltage and current sensing measurements of ADC circuit 926 are provided to processor 902 to compute the impedance. As an example, the first ENERGY1 energy modality might be ultrasonic energy and the second ENERGY2 energy modality might be RF energy. However, in addition to ultrasonic and bipolar or monopolar RF energy modalities, other energy modalities include irreversible and/or reversible electroporation and/or microwave energy, among others. Additionally, although the example illustrated in Figure 21 shows a single RETURN return path and can be provided for two or more energy modes, in other respects, multiple RETURNn return paths can be provided for each energy mode. . Thus, as described herein, the impedance of the ultrasonic transducer can be measured by dividing the output of the first voltage detection circuit 912 by the current detection circuit 914 and the tissue impedance can be measured by dividing the output of the second voltage sensing circuit 924 by current sensing circuit 914.

[0251] As shown in Figure 21, the generator 900 comprising at least one output port may include a power transformer 908 with a single output and with multiple taps to provide power in the form of one or more power modes, such as ultrasonic, bipolar or monopolar RF, irreversible and/or reversible electroporation, and/or microwave energy, among others, for example, to the tip actuator, depending on the type of tissue treatment being performed. For example, the generator 900 can provide energy with higher voltage and lower current to drive an ultrasonic transducer, with lower voltage and higher current to drive RF electrodes to seal tissue or with a coagulation waveform for coagulation using monopolar or bipolar RF electrosurgical electrodes. The output waveform of the generator 900 can be oriented, keyed, or filtered to supply the frequency to the surgical instrument end actuator. The connection of an ultrasonic transducer to the output of generator 900 would preferably be situated between the output identified as POWER1 and RETURN, as shown in Figure 21. In one example, a connection of bipolar RF electrodes to the output of generator 900 would be, preferably situated between the output labeled ENERGY2 and RETURN. In the case of monopolar output, the preferred connections would be active electrode (eg pen or other probe) to the POWER 2 output and a suitable feedback block connected to the RETURN output.

[0252] Additional details are disclosed in US patent application publication No. 2017/0086914 entitled TECHNIQUES FOR OPERA-

TING GENERATOR FOR DIGITALLY GENERATING ELECTRICAL SIGNAL WAVEFORMS AND SURGICAL INSTRUMENTS, which was published on March 30, 2017, which is incorporated herein by reference in its entirety.

[0253] As used throughout this description, the term "wireless" and its derivatives can be used to describe circuits, devices, systems, methods, techniques, communication channels, etc., that can communicate data through the use of modulated electromagnetic radiation through a non-solid medium. The term does not imply that the associated devices do not contain any wires, although in some respects they may not. The communication module

tion can implement any of a number of wireless or wired communication standards or protocols, including, but not limited to, Wi-Fi (IEEE 802.11 family), WiMAX (IEEE family

802.16), IEEE 802.20, long-term evolution (LTE, "long-term evolution"), Ev-DO, HSPA+, HSDPA+, HSUPA+, EDGE, GSM, GPRS, CDMA, TDMA, DECT, Bluetooth, Ethernet derivatives of themselves, as well as any other wireless and wired protocols designated as 3G, 4G, 5G and beyond. The computing module can include a plurality of communication modules. For example, a first communication module can be dedicated to short-range wireless communications like Wi-Fi and Bluetooth, and a second communication module can be dedicated to longer-range wireless communications like GPS, EDGE, GPRS, CDMA , WiMAX, LTE, Ev-DO, and others.

[0254] As used in the present invention a processor or processing unit is an electronic circuit that performs operations on some external data source, usually memory or some other data stream. The term is used herein to refer to the central processor (central processing unit) in a computer system or systems (especially systems on a chip (SoCs)) that combine several specialized "processors".

[0255] As used herein, a system on an integrated circuit or integrated circuit system (SoC or SOC) is an integrated circuit (also known as an "IC" or "chip") that integrates all the components of a computer or other components. electronic systems. It can contain digital, analog, mixed-signal and often radio frequency functions — all on a single substrate. A SoC integrates a microcontroller (or microprocessor) with advanced peripherals such as a graphics processing unit (GPU), Wi-Fi module, or coprocessor. A SoC may or may not contain built-in memory.

[0256] As used herein, a microcontroller or controller is a system that integrates a microprocessor with peripheral circuitry and memory. A microcontroller (or MCU for microcontroller unit) can be implemented as a small computer on a single integrated circuit. It can be similar to a SoC; a SoC can include a microcontroller as one of its components. A microcontroller can contain one or more core processing units (CPUs) along with memory and programmable I/O peripherals. Program memory in the form of ferroelectric RAM, NOR flash, or OTP ROM is also often included in the integrated circuit, as is a small amount of RAM. Microcontrollers can be used for integrated applications, in contrast to microprocessors used in personal computers or other general purpose applications that consist of several discrete integrated circuits.

[0257] As used in the present invention, the term controller or microcontroller can be an independent integrated circuit device or IC (integrated circuit) that interfaces with a peripheral device. This can be a link between two parts of a computer or a controller in an external device that manages the operation of (and connection to) that device.

[0258] Any of the processors or microcontrollers in the present invention can be implemented by any single-core or multi-core processor, such as those known under the trade name ARM Cortex by Texas Instruments. In one aspect, the processor may be a Cortex-M4F LM4F230H5QR ARM processor core, available from Texas Instruments, for example, which comprises 256KB single-cycle flash memory onboard memory, or other nonvolatile memory, up to 40 MHz ,

a prefetch buffer to optimize performance above 40 MHz, a 32KB single-cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with the StellarisWare® program, memory only 2KB electrically erasable programmable read (EEPROM), one or more pulse width modulation (PWM) modules, one or more analog quadrature encoder (QEI) inputs, one or more converters 12-bit analog-digital (ADC) with 12 analog input channels, details of which are available in the product data sheet.

[0259] In one aspect, the processor may comprise a security controller comprising two controller-based families such as TMS570 and RM4x known under the trade name Hercules ARM Cortex R4, also available from Texas Instruments . The safety controller can be specifically configured for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced built-in safety features while providing scalable performance, connectivity and memory options.

[0260] Modular devices include modules (as described in connection with Figures 3 and 9, for example) that are receivable within a central surgical controller and surgical devices or instruments that can be connected to the various modules in order to connect or pair with the corresponding central surgical controller. Modular devices include, for example, smart surgical instruments, medical imaging devices, suction/irrigation devices, smoke evacuators, power generators, ventilators, insufflators and monitors. The modular devices described here can be controlled by control algorithms. The control algorithms can be run on the modular device itself, the central surgical controller to which the specific modular device is paired, or both the modular device and the central surgical controller (eg, through a distributed computing architecture. outward). In some instances, the modular device control algorithms control the devices based on data detected by the modular device itself (ie, by sensors in, on, or connected to the modular device). This data may relate to the surgical patient (eg, tissue properties or inflation pressure) or the modular device itself (eg, the speed at which a knife is being advanced, the motor current, or the energy levels). For example, a control algorithm for a surgical stapling and cutting instrument can control the rate at which the instrument's motor drives its knife through tissue according to the resistance encountered by the knife as it progresses.

[0261] Figure 22 illustrates a form of a surgical system 1000 comprising a generator 1100 and various surgical instruments 1104, 1106 and 1108 usable with it, the surgical instrument 1104 being an ultrasonic surgical instrument, the surgical instrument 1106 being a RF electrosurgical instrument, and the 1108 multifunctional surgical instrument is a combination RF/ultrasonic electrosurgical instrument. The 1100 generator is configurable for use with a variety of surgical instruments. According to various forms, the generator 1100 can be configurable for use with different surgical instruments of different types, including, for example, the 1104 ultrasonic surgical instruments, the 1106 RF electrosurgical instruments, and the 1108 multifunctional surgical instruments that integrate ultrasonic and RF energy supplied simultaneously from generator 1100. Although in the form of Figure 22 generator 1100 is shown separate from surgical instruments 1104, 1106, 1108 in one form, generator 1100 can be formed integrally with any of surgical instruments 1104, 1106, and 1108 to form a system.

unitary surgical theme. The generator 1100 comprises an input device 1110 located on a front panel of the console of the generator 1100. The input device 1110 may comprise any suitable device that generates signals suitable for programming the operation of the generator 1100. The generator 1100 is configurable for wired or wireless communication.

[0262] The generator 1100 is configured to drive multiple surgical instruments 1104, 1106, 1108. The first surgical instrument is an ultrasonic surgical instrument 1104 and comprises an 1105 (HP) handle, an 1120 ultrasonic transducer, a shaft of a drive 1126 and an end actuator 1122. The end actuator 1122 comprises an ultrasonic blade 1128 acoustically coupled to the ultrasonic transducer 1120 and a clamping arm 1140. The grip 1105 comprises a trigger 1143 for operating the clamping arm 1140 and a combination of these toggle buttons 1134a, 1134b, 1134c to energize and trigger the 1128 ultrasonic blade or other function. Toggle buttons 1134a, 1134b, 1134c can be configured to power the 1120 ultrasonic transducer with the 1100 generator.

[0263] The generator 1100 is also configured to drive a second surgical instrument 1106. The second surgical instrument 1106 is an RF electrosurgical instrument and comprises a grip 1107 (HP), a drive shaft 1127, and an end actuator

1124. End actuator 1124 comprises electrodes on clamping arms 1142a and 1142b and return through the electrically conducting portion of drive shaft 1127. The electrodes are coupled to, and powered by, a bipolar power source within of generator 1100. Handle 1107 comprises a trigger 1145 to operate clamp arms 1142a, 1142b and a power button 1135 to actuate a power switch to energize electrodes in end actuator 1124.

[0264] The generator 1100 is also configured to drive a multifunctional surgical instrument 1108. The multifunctional surgical instrument 1108 comprises a grip 1109 (HP), a drive shaft 1129, and an end actuator 1125. The actuator The 1125 end cap comprises an ultrasonic blade 1149 and a clamping arm 1146. The ultrasonic blade 1149 is acoustically coupled to the ultrasonic transducer 1120. The grip 1109 comprises a trigger 1147 for operating the clamping arm 1146 and a combination of the screws - toggle buttons 1137a, 1137b, 1137c to energize and drive the ultrasonic blade 1149 or other function. Toggle buttons 1137a, 1137b, 1137c can be configured to power the ultrasonic transducer 1120 with the generator 1100 and to power the ultrasonic blade 1149 with a bipolar power source also contained within the generator

1100.

[0265] The 1100 generator is configurable for use with a variety of surgical instruments. According to various forms, the generator 1100 can be configurable for use with different surgical instruments of different types, including, for example, the ultrasonic surgical instrument 1104, the RF surgical instrument 1106, and the multifunctional surgical instrument 1108 that integrate energies. RF and ultrasonics supplied simultaneously from the generator

1100. While in the form of Figure 22 generator 1100 is shown separate from surgical instruments 1104, 1106, 1108, in another form generator 1100 may be formed integrally with any of surgical instruments 1104, 1106, 1108 to form a unitary surgical system. As discussed above, generator 1100 comprises an input device 1110 located on a front panel of generator console 1100. Input device 1110 may comprise any suitable device that generates signals suitable for programming the operation of generator 1100. Generator 1100 may also comprise one or more 1112 output devices. Other aspects of generators for digitally generating electrical signal waveforms and surgical instruments are described in patent publication US-2017-0086914-A1, which is hereby incorporated by reference. , in its entirety. situational recognition

[0266] Although a "smart" device, including control algorithms responsive to detected data, may be an improvement over a "stupid" device that operates without taking the detected data, some detected data may be incomplete or inconclusive when considered in isolation, that is, without the context of the type of surgical procedure being performed or the type of tissue undergoing surgery. Without knowing the context of the procedure (for example, knowing the type of tissue undergoing surgery, or the type of procedure being performed), the control algorithm may incorrectly or suboptimally control the modular device, provided the detected data without specific context. For example, the ideal way for a control algorithm to control a surgical instrument in response to a certain detected parameter may vary according to the type of particular tissue being operated on. This is due to the fact that different types of tissue have different properties (eg tear resistance) and thus respond differently to actions performed by surgical instruments. Therefore, it may be desirable for a surgical instrument to perform different actions when the same measurement is detected for a specific parameter. As a specific example, the ideal way to control a surgical stapling and cutting instrument, in response to the instrument detecting an unexpectedly high force to close its end actuator, will vary depending on whether the tissue type is susceptible or resistant. to tear. For tissues that are susceptible to tearing, such as lung tissue, the instrument's control algorithm would optimally decelerate the engine in response to an unexpectedly high force to close to prevent tissue disruption. For tissues that are tear resistant, such as stomach tissue, the instrument's control algorithm would optimally accelerate the motor in response to an unexpectedly high force to close to ensure that the end actuator is properly secured in the tissue. Without knowing whether lung or stomach tissue has been trapped, the control algorithm may make a decision below what is considered ideal.

[0267] One solution uses a central surgical controller including a system configured to derive information about the surgical procedure being performed based on data received from various data sources, and then control the modular devices accordingly. Paired. In other words, the central surgical controller is configured to infer information about the surgical procedure from received data and then control the modular devices paired with the central surgical controller based on the inferred context of the surgical procedure. Figure 23 illustrates a diagram of a situational awareness surgical system 5100, in accordance with at least one aspect of the present disclosure. In some instances, the 5126 data sources include, for example, the 5102 modular devices (which may include sensors configured to detect parameters associated with the patient and/or the modular device itself), 5122 databases (e.g., a base of EMR data containing the patient's record), and 5124 monitoring devices (eg, a blood pressure (BP) monitor and an electrocardiography (ECG) monitor). The central surgical controller 5104 can be configured to derive contextual information related to the surgical procedure from the data based, for example, on the specific combination(s) of data received or the specific order in which the data are received from 5126 data sources. Contextual information inferred from the received data may include, for example, the type of surgical procedure being performed, the specific step of the surgical procedure the surgeon is performing, the type of tissue being operated, or the body cavity that is the subject of the procedure. This ability in some aspects of the 5104 central surgical controller to derive or infer information related to the surgical procedure from received data may be called "situational awareness." In an instance, the 5104 central surgical controller may incorporate a situational awareness system, which is the hardware and/or programming associated with the central surgical controller 5104 that derives contextual information related to the surgical procedure based on the received data.

[0268] The central surgical controller 5104 situational awareness system can be configured to derive contextual information from data received from 5126 data sources in various ways. In one instance, the situational awareness system includes a pattern recognition system, or machine learning system (eg, an artificial neural network), that has been trained on training data to correlate various entries (eg, data from databases 5122, patient monitoring devices 5124, and/or modular devices 5102) to corresponding contextual information pertaining to a surgical procedure. In other words, a machine learning system can be trained to accurately derive contextual information regarding a surgical procedure from the inputs provided. In another example, the situational awareness system can include a look-up table that stores pre-characterized contextual information referring to a surgical procedure in association with one or more inputs (or ranges of inputs) corresponding to the contextual information. In response to a query with one or more entries, the lookup table may return corresponding contextual information to the situational awareness system to control Modular 5102 devices. central surgical controller 5104, are associated with a specific control setting or set of control settings for one or more modular devices 5102. In another example, the situational awareness system includes an additional machine learning system , lookup table, or other such system, generating or retrieving one or more control settings for one or more modular devices 5102, when providing contextual information as input.

[0269] A 5104 surgical central controller, which incorporates a situational awareness system, provides several benefits to the 5100 surgical system. One benefit includes improving the interpretation of detected and captured data, which, in turn, improves processing accuracy and/or data usage during the course of a surgical procedure. To return to an earlier example, a central surgical controller 5104 with situational awareness could determine what type of tissue was being operated on; therefore, when an unexpectedly high force to close the surgical instrument end actuator is detected, the situational awareness central surgical controller 5104 could correctly accelerate or decelerate the surgical instrument motor for the tissue type.

[0270] As another example, the type of tissue being operated on can affect the adjustments that are made to the load thresholds and compression ratio of a surgical stapling and cutting instrument for a specific tissue span measurement. A central surgical controller with 5104 situational awareness could infer whether a surgical procedure being performed is a thoracic or abdominal procedure, allowing the central surgical controller 5104 to determine whether tissue clamped by an end actuator of the stapling instrument is Surgical cut is lung tissue (for a thoracic procedure) or stomach tissue (for an abdominal procedure). The central surgical controller 5104 can then appropriately adjust the load thresholds and compression ratio of the surgical stapling and cutting instrument to the tissue type.

[0271] As yet another example, the type of body cavity that is being operated during an inflation procedure can affect the function of a smoke evacuator. A central surgical controller with situational awareness 5104 can determine if the surgical site is under pressure (by determining that the surgical procedure is using insufflation) and determine the type of procedure. As one type of procedure is usually performed in a specific body cavity, the 5104 central surgical controller can then adequately control the speed of the smoke evacuator motor for the body cavity being operated on. In this way, a central surgical controller with 5104 situational awareness can provide a consistent amount of smoke evacuation for both thoracic and abdominal procedures.

[0272] As yet another example, the type of procedure being performed can affect the ideal energy level for an ultrasonic surgical instrument or radio frequency (RF) electrosurgical instrument to operate. Arthroscopic procedures, for example, require

higher energy levels because the end actuator of the ultrasonic surgical instrument or RF electrosurgical instrument is immersed in fluid. A central surgical controller with 5104 situational awareness can determine whether the surgical procedure is an arthroscopic procedure. The 5104 central surgical controller can then adjust the RF power level or the ultrasonic amplitude of the generator (i.e., the "power level") to compensate for the fluid-filled environment. Related to this, the type of tissue being operated on can affect the optimal energy level at which an ultrasonic surgical instrument or RF electrosurgical instrument operates. A central surgical controller with 5104 situational awareness can determine what type of surgical procedure is being performed and then customize the energy level for the ultrasonic surgical instrument or RF electrosurgical instrument, respectively, according to the tissue profile. expected for the surgical procedure. In addition, a central surgical controller with 5104 situational awareness can be configured to adjust the energy level for the ultrasonic surgical instrument or RF electrosurgical instrument throughout the course of a surgical procedure, rather than just on a procedure basis. -by-procedure. A central surgical controller with 5104 situational awareness can determine which step of the surgical procedure is being performed or will be performed subsequently and then update the control algorithms for the generator and/or ultrasonic surgical instrument or RF electrosurgical instrument to adjust the energy level to a value suitable for the type of tissue, according to the surgical procedure step.

[0273] As yet another example, data can be extracted from additional 5126 data sources to improve the conclusions that central surgical controller 5104 draws from a 5126 data source.

Build the data it receives from modular 5102 devices with contextual information it has accumulated regarding the surgical procedure from other 5126 data sources. For example, a central surgical controller with 5104 situational awareness can be configured to determine whether hemostasis has occurred (ie, has stopped bleeding at a surgical site), according to video or image data received from a medical imaging device. However, in some cases, video or image data may be inconclusive. Therefore, in an example, the 5104 central surgical controller can be further configured to compare a physiological measurement (e.g., blood pressure sensed by a BP monitor communicatively connected to the 5104 central surgical controller) with the visual or image data of hemostasis (eg, from a medical imaging device 124 (Figure 2) communicably coupled to the central surgical controller 5104) to make a determination on the integrity of the staple line or tissue union. In other words, the central surgical controller 5104 situational awareness system can consider the physiological measurement data to provide additional context in analyzing the visualization data. Additional context can be useful when visualization data may be inconclusive or incomplete by itself.

[0274] Another benefit includes proactively and automatically controlling the 5102 paired modular devices according to the specific step of the surgical procedure being performed to reduce the number of times that medical personnel are required to interact with or control the 5100 surgical system during the course of a surgical procedure. For example, a central surgical controller with 5104 situational awareness can proactively activate the generator to which an RF electrosurgical instrument is connected, if desired.

conclude that a subsequent step in the procedure requires the use of the instrument. Proactively activating the power source allows the instrument to be ready for use as soon as the preceding step in the procedure is complete.

[0275] As another example, a central surgical controller with 5104 situational awareness could determine whether the current or subsequent step of the surgical procedure requires a different view or degree of screen magnification, according to the resource(s). (s) at the surgical site the surgeon is expected to need to see. The central surgical controller 5104 could then proactively change the view displayed (provided, for example, by a medical imaging device to the viewing system 108) so that the screen automatically adjusts throughout the procedure. surgical.

[0276] As yet another example, a central surgical controller with 5104 situational awareness could determine which step of the surgical procedure is being performed or will be performed subsequently and whether specific data or data comparisons will be needed for that step of the surgical procedure . The 5104 central surgical controller can be configured to automatically call up screens based on data about the stage of the surgical procedure being performed, without waiting for the surgeon to request specific information.

[0277] Another benefit includes checking for errors during the setup of the surgical procedure or during the course of the surgical procedure. For example, a central surgical controller with 5104 situational awareness could determine whether the operating room is properly or ideally configured for the surgical procedure to be performed. The 5104 central surgical controller can be configured to determine the type of surgical procedure being performed, retrieve corresponding checklists, product location, or configuration needs (eg, from a memory), and then compare the current operating room layout to the default layout for the type of surgical procedure that the 5104 central surgical controller determines is being performed. In one instance, the 5104 central surgical controller can be configured to compare the list of items for the procedure (scanned by a scanner, for example) and/or a list of devices paired with the 5104 central surgical controller with a recommended or anticipated manifest of items and/or devices for the given surgical procedure. If there are any discontinuities between the lists, the 5104 central surgical controller can be configured to provide an alert indicating that a specific 5102 modular device, 5124 patient monitoring device, and/or other surgical item is missing. In one example, the central surgical controller 5104 can be configured to determine the position or relative distance of modular devices 5102 and patient monitoring devices 5124 through proximity sensors, for example. The 5104 central surgical controller can compare the relative positions of devices to a recommended or anticipated layout for the specific surgical procedure. If there are any discontinuities between layouts, the 5104 central surgical controller can be configured to provide an alert indicating that the current layout for the surgical procedure deviates from the recommended layout.

[0278] As another example, the situational awareness endowed central surgical controller 5104 could determine whether the surgeon (or other medical personnel) was making an error or otherwise deviating from the expected course of action during the course of a surgical procedure. For example, the 5104 central surgical controller can be configured to determine the type of surgical procedure being performed, retrieve the corresponding list.

the steps or order of use of the equipment (for example, from a memory), and then compare the steps being performed or the equipment being used during the course of the surgical procedure with the steps or with the equipment expected for the type of surgical procedure that the central surgical controller 5104 has determined is being performed. In an instance, the central surgical controller 5104 can be configured to provide an alert indicating that an unexpected action is being taken or an unexpected device is being used at the specific step in the surgical procedure.

[0279] In general, the situational awareness system for the 5104 central surgical controller improves surgical procedure outcomes by adjusting the surgical instruments (and other modular devices 5102) to the specific context of each surgical procedure (such as the adjustment to different types of tissue), and when validating actions during a surgical procedure. The situational awareness system also improves the surgeon's efficiency in performing surgical procedures by automatically suggesting the next steps, providing data, and adjusting 5102 screens and other modular devices in the operating room according to the specific context. of the procedure. Modular Power System

[0280] OSs, around the world, are a tangled web of cables, devices and people due to the number of equipment needed to perform surgical procedures. Essential surgical equipment tends to be a major contributor to this problem because most essential surgical equipment performs a unique and specialized task. Due to their specialized nature and the needs of surgeons needing to use several different types of devices during the course of a single surgical procedure, a

OS may need to be supplied with two or even more pieces of essential surgical equipment such as power generators.

Each of these essential surgical equipment must be individually plugged into a power source and can be connected to one or more other devices that are being passed between OR personnel, creating a tangle of cables that must be routed through.

Another problem faced in modern ORs is that each of these specialized pieces of essential surgical equipment has its own user interface and must be controlled independently of other pieces of equipment within the OR.

This creates complexity to properly control multiple different devices in connection with each other and forces users to be trained and memorize different types of user interfaces (which may additionally change, based on the task or surgical procedure being performed, in addition to switching between each piece of essential equipment). This complicated and complex process can require the need for even more people present in the OS and can cause danger if multiple devices are not properly controlled together with each other.

Therefore, consolidating essential surgical equipment technology into unique systems that are able to flexibly address the needs of surgeons to reduce the projection area of essential surgical equipment in the ORs would simplify the user experience, reduce clutter in the ORs and it would avoid the difficulties and dangers associated with the simultaneous control of multiple elements of essential equipment.

Furthermore, making such systems expandable or customizable would allow new technologies to be conveniently incorporated into existing surgical systems, eliminating the need to replace entire surgical systems or for OR personnel to learn new user interfaces or equipment controls with each new technology.

[0281] As described in Figures 1 to 11, a central surgical controller 106 can be configured to interchangeably receive a variety of modules, which in turn, can interface with surgical devices (for example, a surgical instrument or a smoke evacuator) or provide various other functions (eg communications). In one aspect, a central surgical controller 106 can be incorporated as a modular power system 2000, which is illustrated in relation to Figures 24 to 30. Modular power system 2000 can include a variety of different modules 2001 which are pluggable together in a stacked configuration.

In one aspect, the 2001 modules can be physically and communicably coupled when stacked or otherwise when connected together in a single assembly.

Additionally, 2001 modules can be interchangeably plug-in together in different combinations or arrangements.

In one aspect, each of the 2001 modules can include a consistent or universal array of connectors arranged along their top and bottom surfaces, thus allowing any 2001 module to be connected to another 2001 module in any arrangement (except for the fact that that, in some respects, a particular type of module, such as the 2002 header module, can be configured to serve, for example, as the module higher up the stack). In an alternative aspect, the Modular Power System 2000 may include a cabinet that is configured to receive and hold the 2001 modules, as shown in Figures 3 and 4. The Modular Power System 2000 may also include a variety of different components or accessories that are also connectable to or otherwise associable with the 2001 modules. In another aspect, the modular power system 2000 can be incorporated as a generator module 140, 240 (Figures 3 and 10) of a controller central surgical controller 106. In yet another aspect, modular power system 2000 may be a distinct system from a central surgical controller 106. In such aspects, modular power system 2000 may be communicably matable to a controller surgical center 206 for transmitting and/or receiving data between them.

[0282] Modular power system 2000 can be assembled from a variety of different modules 2001, and some examples of these are Illustrated in Figure 24. Each of the different types of modules 2001 can provide different functionality, allowing for Yes, modular power system 2000 is assembled in different configurations to customize the functions and features of the modular power system 2000 by customizing the 2001 modules that are included in each modular power system 2000. The 2001 modules of the modular power system 2000 they may include, for example, a 2002 header module (which may include a 2006 display screen), a 2004 power module, a 2040 technology module, and a 2042 display module. In the aspect shown, the header module 2002 is configured to serve as the topmost module in the modular power system stack and may therefore have no connectors along its top surface. In another aspect, header module 2002 can be configured to be placed at the bottom or the module lower in the modular power system stack and may, therefore, have no connectors along its bottom surface. In yet another aspect, the header module 2002 can be configured to be positioned in an intermediate position within the stack of the modular power system and can therefore include connectors along both of its bottom surfaces. and top. The header module 2002 can be configured to control the system-wide settings of each module 2001 and the component connected to it through physical controls 2011 on it and/or a graphical interface.

2008 user ca (IGU) rendered on the 2006 display screen. Such settings could include 2000 modular power system activation, alert volume, footswitch settings, settings icons, appearance, or user interface configuration, the profile of the surgeon who has logged into the 2000 Modular Power System, and/or the type of surgical procedure being performed. The 2002 header module can also be configured to provide communications, processing, and/or power to the 2001 modules that are connected to the 2002 header module. The 2004 power module, which may also be called a generator module 140, 240 (Figures 3 and 10), can be configured to generate one or multiple modalities of energy to drive electrosurgical and/or ultrasonic surgical instruments connected to it, as described above in relation to the generator 900 illustrated in Figure 21. The 2040 technology module can be configured to provide additional or expanded control algorithms (eg, electrosurgical or ultrasonic control algorithms to control the power output of the 2004 power module). The 2042 visualization module can be configured to interface with visualization devices (ie, scopes) and therefore provide greater visualization capabilities.

[0283] The 2000 modular power system can additionally include a variety of 2029 accessories that are pluggable to the 2001 modules to control their functions or that are otherwise configured to work in conjunction with the system. modular power

2000. The 2029 accessories may include, for example, a 2032 single pedal footswitch, a 2034 dual pedal footswitch, and a 2030 carriage to support the 2000 modular power system thereon. Foot switches 2032, 2034 can be configured to control the activation or function of particular power modes emitted by, for example, the 2004 power module.

[0284] By using modular components, the depicted Modular Power System 2000 provides a surgical platform that grows with the availability of technology and is customizable to the needs of the facility and/or surgeons. Additionally, Modular Power System 2000 supports combined devices (eg dual electrosurgical and ultrasonic power generators) and supports software-driven algorithms for custom tissue effects. In addition, the surgical system architecture reduces the capital footprint by combining multiple surgery-critical technologies into a single system.

[0285] The various modular components usable in conjunction with the Modular Power System 2000 may include monopolar power generators, bipolar power generators, dual electrosurgical/ultrasonic power generators, display screens and various other modules and/or other components, some of which are also described above together with Figures 1 to 11.

[0286] Now referring to Figure 25A, header module 2002 may, in some respects, include a 2006 display screen that renders a 2008 GUI to relay information about modules 2001 connected to header module 2002. In some aspects, the 2006 display screen IGU 2008 can provide a consolidated control point of all 2001 modules that make up the particular configuration of the 2000 modular power system. Several aspects of the 2008 IGU are discussed in more detail below along with Figure 30. In alternative aspects, the header module 2002 may not have the 2006 display screen, or the 2006 display screen may be detachably connected to the 2010 enclosure of the 2002 header module. the header module 2002 can be communicably dockable to an external system that is configured to display the information generated by the 2001 system modules.

2000 modular power theme. For example, in robotic surgical applications, the 2000 modular power system can be communicably dockable to a robotic car or robotic control console, which is configured to display the information generated by the 2000 modular power system to the operator of the robotic surgical system. As another example, the 2000 Modular Power System can be communicably dockable to a movable display that can be carried by or attached to a member of the surgical team for viewing in this way. In yet another example, modular power system 2000 may be communicatably couplable with a central surgical controller 2100 or other computer system that may include a display 2104, as illustrated in Figure 29. In aspects utilizing an interface that is separate or otherwise distinct from the 2000 Modular Power System, the user interface may be wirelessly connectable to the 2000 Modular Power System as a whole or one or more 2001 modules thereof, so that the user interface can display the information of the 2001 connected modules in it.

[0287] Still referring to Figure 25A, the power module 2004 may include a port assembly 2012 that includes a number of different ports configured to deliver different power modalities to corresponding surgical instruments that are connectable thereto. In the particular aspect illustrated in Figures 24 to 30, the port assembly 2012 includes a bipolar 2014 port, a first monopolar port 2016a, a second monopolar port 2018b, a neutral electrode port 2018 (to which a monopolar return block is connectable) , and a combination power port

2020. However, this specific port combination is simply provided for illustrative purposes, and alternative port combinations and/or power modes may be possible for the 2012 port set.

[0288] As noted above, Modular Power System 2000 can be mounted in different configurations. Additionally, the different configurations of the modular power system 2000 can also be usable for different types of surgical procedures and/or different tasks. For example, Figures 25A and 25B illustrate a first illustrative configuration of the 2000 modular power system, including a 2002 header module (including a 2006 display screen) and a 2004 power module connected together. Such a configuration may be suitable, for example, for laparoscopic and open surgical procedures.

[0289] Figure 26A illustrates a second illustrative configuration of the 2000 modular power system including a 2002 header module (including a 2006 display screen), a first power module 2004a, and a second power module 2004b connected together. By stacking two 2004a, 2004b power modules, Modular Power System 2000 can provide a pair of 2012a, 2012b port sets to expand the array of power modalities releasable by Modular Power System 2000 from the first confi- guration. The second configuration of the Modular Power System 2000 can therefore accommodate more than one bipolar/monopolar electrosurgical instrument, more than two bipolar/monopolar electrosurgical instruments, and so on. Such a configuration may be suitable for particularly complex laparoscopic and open surgical procedures. Figure 26B illustrates a third illustrative configuration that is similar to the second configuration, except that the header module 2002 does not have a 2006 display screen. This configuration may be suitable for robotic surgical applications or mobile display applications. , as noted above.

[0290] Figure 27 illustrates a fourth illustrative configuration of the 2000 modular power system including a 2002 header module

(including a 2006 display screen), a first power module 2004a, a second power module 2004b, and a technology module 2004 connected together. Such a configuration may be suitable for surgical applications where computationally intensive or particularly complex control algorithms are required. Alternatively, the 2040 technology module can be a newly released module that supplements or expands the capabilities of previously released modules (such as the 2004 power module).

[0291] Figure 28 illustrates a fifth illustrative configuration of the 2000 modular power system including a 2002 header module (including a 2006 display screen), a first power module 2004a, a second power module 2004b, a module technology 2004b and a 2042 visualization module connected together. Such a configuration may be suitable for endoscopic procedures by providing a dedicated 2044 surgical display to relay video transmission from the scope coupled to the 2042 display module. It should be noted that the configurations illustrated in Figures 25A to 29 and described above are provided simply to illustrate the various concepts of the Modular Power System 2000 and should not be interpreted to limit the Modular Power System 2000 to the specific configurations mentioned above.

[0292] As noted above, the modular power system 2000 may be communicably attachable to an external system, such as a 2100 central surgical controller, as illustrated in Figure 29. Such external systems may include a 2104 display screen for display a visual stream from an endoscope (or a camera, or other display device) and/or modular power system 2000 data. Such external systems may also include a 2102 computer system to perform the calculations or otherwise analyze the data generated or provided by the system.

modular power 2000 theme to control the functions or modes of the modular power system 2000 and/or relay the data to a cloud computing system or other computer system. Such external systems could also coordinate actions between multiple modular power systems 2000 and/or other surgical systems (eg, a visualization system 108 and/or a robotic system 110, as described in conjunction with Figures 1 and two).

[0293] Now referring to Figure 30, in some respects the 2002 header module may include or support a 2006 screen configured to display a 2008 GUI, as noted above. The 2006 display screen can include a touch-sensitive screen to receive user data as well as display information. The controls displayed in the 2008 GUI may correspond to the 2001 module(s) that are connected to the 2002 header module. In some respects, different portions or areas of the 2008 GUI may correspond to the 2001 specific modules. For example, a first portion or area of GUI 2008 could correspond to a first module and a second portion or area of GUI 2008 could correspond to a second module. As different 2001 and/or add-on modules are connected to the modular power system stack, the IGU 2008 can adjust to accommodate different and/or add-on controls for each newly added 2001 module, or remove the controls for each 2001 module that is removed. Each portion of the display corresponding to a particular module connected to the 2002 header module can display controls, data, user prompts, and/or other information corresponding to that module. For example, in Figure 30, a first portion or upper 2052 portion of the 2008 GUI shown displays controls and data associated with a 2004 power module that is connected to the 2002 header module. In particular, the 2052 first portion of the IGU 2008 for power module 2004 provides the first 2056a widget corresponding to the bipolar 2014 port, a second 2056b widget corresponding to the first monopolar 2016a port, a third 2056c widget corresponding to the second monopolar 2016b port, and a fourth 2056d widget corresponding to the port Combo power 2020. Each of these 2056a ad widgets provides data related to its corresponding port of the 2012 port set and controls to control the modes and other features of the power mode released by the power module 2004 through the res. - port set port 2012. For example, the 2056a ad widgets can be configured to display the power level of the connected surgical instrument to the respective port, change the operating mode of the surgical instrument connected to the respective port (for example, changing a surgical instrument from a first power level to a second power level and/or changing a monopolar surgical instrument from a mode from "sprinkling" to a "mixing" mode, and so on.

[0294] In one aspect, the header module 2002 may include various physical controls 2011 in addition to or in place of the GUI 2008. Such physical controls 2011 may include, for example, an on/off button that controls the activation of each module 2001 which is connected to header module 2002 in modular power system 2000. Alternatively, the on/off button can be displayed as part of the 2008 GUI. Therefore, header module 2002 can serve as a single point of contact and avoid the need to individually activate and deactivate each individual 2001 module from which the 2000 modular power system is built.

[0295] In one aspect, header module 2002 may display still images, videos, animations, and/or information associated with surgical modules 2001 of which modular power system 2000 is constructed or surgical devices that are communicably coupled to the 2000 modular power system. The still images and/or videos displayed by the header module 2002 can be received from an endoscope or other display device that is communicably coupled to the 2000 modular power system. /or IGU 2008 information may be superimposed or displayed adjacent to the images or video stream.

[0296] In one aspect, modules 2001 other than header module 2002 can be configured to similarly relay information to users. For example, the 2004 power module can include 2015 light sets arranged around each of the doors of the 2012 door set. The 2015 light sets can be configured to transmit information to the user regarding the door according to its color or status (eg flashing). For example, 2015 light sets can change from a first color to a second color when a plug is fully inserted into the respective port. In one aspect, the color or state of the 2015 light sets can be controlled by the header module

2002. For example, header module 2002 can make the 2015 light set for each port display a color corresponding to the color screen for the port in the 2008 GUI.

[0297] Figure 31 is a block diagram of an autonomous central controller configuration of a modular power system 3000, in accordance with at least one aspect of the present disclosure, and Figure. 32 is a block diagram of a central controller configuration of a modular power system 3000 Integrated with a surgical control system 3010, in accordance with at least one aspect of the present disclosure. As shown in Figures 31 and 32, the modular power system 3000 can be used as stand-alone units or integrated with a surgical control system 3010 that controls and/or receives data from one or more units of the ci-

central surgical. In the examples Illustrated in Figures 31 and 32, the integrated header/UI module 3002 of modular power system 3000 includes a header module and an integrated UI module together as a single module. In other aspects, the header module and the UI module may be provided as separate components that are communicatively coupled via a 3008 data bus.

[0298] As illustrated in Figure 31, an example of a stand-alone modular power system 3000 includes an integrated 3002 header/user interface module (UI) module coupled to a 3004 power module. data is transmitted between the header/integrated UI module 3002 and the power module 3004 via a power interface 3006 and a data interface 3008. For example, the header module/integrated UI 3002 can transmit multiple commands to the 3004 power module through the 3008 data interface. Such commands can be based on data entered by the user from the UI. As a further example, power can be transmitted to power module 3004 via power interface 3006.

[0299] In Figure 32, a central surgical controller configuration includes a modular 3000 power system Integrated with a 3010 control system and a 3022 interface system to manage, among other things, the transmission of data and power to and /or from modular power system 3000. The modular power system depicted in Figure 32 includes an integrated header module/UI module 3002, a first power module 3004, and a second power module 3012. For example, a data transmission path is established between the system control unit 3024 of the control system 3010 and the second power module 3012 via the first power module 3004 and the header/UI module 3002 via an interface. data 3008. In addition, a power route extends between the integrated header/UI module 3002 and the second power module 3012 via the first power module 3004 via a power interface 3006. In other words, in one aspect, the first power module 3004 is configured to function as a power and data interface between the second power module 3012 and the integrated header/UI module 3002 via the power interface 3006 and the interface data 3008. This arrangement allows the modular power system 3000 to be expanded by easily connecting additional power modules to power modules 3004, 3012 that are already connected to the integrated header/UI module 3002 without the need for dedicated power and power interfaces within the 3002 integrated header/UI module.

[0300] The 3024 system control unit, which may be referred to in the present invention as a control circuit, control logic, microprocessor, microcontroller, logic or FPGA, or various combinations thereof, is coupled to the 3022 system interface through of the power interface 3026 and the instrument communication interface 3028. The system interface 3022 is coupled to the first power module 3004 via a first power interface 3014 and a first instrument communication interface 3016. system interface 3022 is coupled to the second power module 3012 via a second power interface 3018 and a second instrument communication interface

3020. As add-on modules, such as add-on power modules, are stacked in modular power system 3000, more power and communications interfaces are provided between the 3022 system interface and the add-on modules.

[0301] As described in more detail later in this document, the power modules 3004, 3012 are pluggable to a central controller and can be configured to generate electrosurgical power (eg, bipolar or monopolar), ultrasonic power, or a combination thereof (referred to here as an "advanced energy" module) for a variety of powered surgical instruments. In general, power modules 3004, 3012 include hardware/software interfaces, an ultrasonic controller, an advanced power RF controller, a bipolar RF controller, and control algorithms executed by the controller that receive controller outputs and control hence the operation of the various power modules 3004, 3012. In various aspects of the present disclosure, the controllers described in the present invention may be implemented as a control circuit, a control logic, a microprocessor, a microcontroller, a logic or FPGA, or various combinations thereof.

[0302] Figures 33 to 35 are block diagrams of the various modular power systems connected together to form a central controller, in accordance with at least one aspect of the present disclosure. Figures 33 to 35 represent various diagrams (eg, circuit or control diagrams) of central controller modules. The modular power system 3000 includes multiple power modules 3004 (Figure 34), 3012 (Figure 35), a 3150 header module (Figure 35), a 3030 UI module (Figure 33) and a 3032 communication module (Figure 35). 33), in accordance with at least one aspect of the present disclosure. The 3030 UI module includes a 3046 touchscreen displaying various relevant information and various user controls for controlling one or more parameters of the 3000 modular power system. The 3030 UI module is attached to the 3150 top header module, but is separately housed so that it can be manipulated independently of the 3150 header module. For example, the 3030 UI module can be picked up by a user and/or re-

connected to the 3150 header module. Additionally, or alternatively, the 3030 UI module can be minimally moved relative to the 3150 header module to adjust its position and/or orientation. For example, UI module 3030 can be tilted and/or rotated relative to header module 3150.

[0303] In some respects, the various central controller modules may include light piping around the physical ports to indicate instrument status and also connect on-screen elements to corresponding instruments. Light tubing is an example of an illumination technique that can be used to alert a user to the state of a surgical instrument attached/connected to a physical port. In one aspect, illuminating a physical port with a particular light directs a user to connect a surgical instrument to the physical port. In another example, illuminating a physical port with a private light alerts a user to an error related to an existing connection to a surgical instrument.

[0304] Returning to Figure 33, there is shown a block diagram of a user interface module (UI) 3030 coupled to a communication module 3032 via a central through-thru controller connector 3034, in accordance with at least an aspect of this disclosure. The 3030 UI module is supplied as a separate component of a 3150 header module (shown in Figure 35) and can be communicatively coupled to the 3150 header module via, for example, a header module. Communication

3032. In one aspect, the 3030 UI module can include a 3040 UI processor that is configured to represent views and declarative behavior received from other connected modules, as well as to perform other centralized UI functionality such as system configuration (eg language selection,

module associations etc.). The 3040 UI processor can be, for example, a processor or system in module (SOM) that executes a framework such as Qt, .NET WPF, web server or similar.

[0305] In the illustrated example, the 3030 UI module includes a 3046 touchscreen, a 3048 liquid crystal display (LCD) and a 3052 audio output (eg speaker, alarm). The 3040 UI processor is configured to receive inputs from a touch screen from a 3044 touch controller coupled between the 3046 touch screen and the 3040 UI processor. The 3040 UI processor is configured to output visual information to the 3048 LCD display and output audio information from the 3052 audio output via a 3050 audio amplifier. The 3040 UI processor is configured to interface with the 3032 communications module via a 3042 switch coupled to the controller connector gateway 3034 for receiving, processing and forwarding data from the source device to the destination device and control data communication between them. DC power is supplied to the 3030 UI module through the 3054 DC/DC converter modules. The DC power is passed through the central pass-thru controller connector 3034 to the communications module 3032 via the 3006 power bus. Data is passed through the gateway central controller connector 3034 to the communications module 3032 via the power bus.

3008. Keys 3042, 3056 receive, process, and send data from the source device to the destination device.

[0306] Continuing with Figure 33, the communications module 3032 as well as various central surgical controllers and/or surgical systems may include an input port 3058 that is configured to transmit selected traffic (i.e. data) between two networks disparate (for example, an internal network and/or a hospital network) that are running different protocols. the communications module

3032 includes a first passthrough central controller connector 3036 for coupling communications module 3032 to other modules. In the illustrated example, communications module 3032 is coupled to UI module 3030. Communications module 3032 is configured to couple to other modules (e.g., power modules) via a second gateway central controller connector 3038 to coupling the communications module 3032 to other modules via a switch 3056 disposed between the first and second central gateway connectors 3036, 3038 to receive, process and transmit data from the source device to the destination device and control communication of the data between them. The 3056 switch is also coupled to a 3058 input port for transmitting information between the external communications ports and the 3030 UI module and the other connected modules. The 3058 input port can be coupled to various communications modules such as a 3060 Ethernet module for communicating to a hospital network or other local network, a 3062 universal serial bus (USB) module, a 3062 Ethernet module. Wi-Fi 3064 and a Bluetooth module 3066, among others. The communications modules can be physical boards located within the communications module 3032 or can be a port for attaching remote communications boards.

[0307] In some respects, all modules (ie, removable hardware) are controlled by a single 3030 UI module that is disposed on or is an integral part of a header module. Figure 35 shows an independent header module 3150 to which the UI module 3030 can be attached. Figures 31, 32, and 36 show an integrated header/UI module 3002. Returning now to Figure 33, in various aspects, by consolidating all modules into a single responsive UI module 3002, the system provides a simpler way. to control and monitor multiple pieces of equipment at once. This approach dramatically reduces footprint and complexity in an operating room (OS).

[0308] Turning to Figure 34, it illustrates a block diagram of a power module 3004, in accordance with at least one aspect of the present disclosure. The communications module 3032 (Figure 33) is coupled to the power module 3004 via the second central gateway connector 3038 of the communications module 3032 and a first central gateway connector 3074 of the power module. 3004. Power module 3004 may be coupled to other modules, such as a second power module 3012 shown in Figure 35, via a second pass-through central controller connector 3078. Returning again to Figure 34, a switch 3076 disposed between the first and second central gateway connectors 3074, 3078 receives, processes and transmits data from the source device to the destination device and controls data communication between them. Data is received and transmitted over data bus 3008. Power module 3032 includes a controller 3082 to control various communications and processing functions of power module 3004.

[0309] DC power is received and transmitted by power module 3004 through power bus 3006. Power bus 3006 is coupled to DC/DC converter modules 3138 to supply power to adjustable regulators 3084, 3107 and ports of isolated DC/DC converters 3096, 3112, 3132.

[0310] In one aspect, power module 3004 may include a 3086 ultrasonic broadband amplifier, which, in one aspect, may be a class H linear amplifier that is capable of generating arbitrary waveforms and driving low harmonic transducers total harmonic distortion (DHT) levels. The ultrasonic broadband amplifier

nico 3086 is powered by a 3084 adjustable step-down regulator to maximize efficiency and is controlled by the 3082 controller, which can be implemented as a digital signal processor (PSD), eg via a direct digital synthesizer (SDD) . SDD can be incorporated into the PSD or implemented, for example, in the field-programmable port array (MPPC). The 3082 controller controls the 3086 ultrasonic broadband amplifier through a 3106 Digital-to-Analog Converter (CDA). The output of the 3086 ultrasonic broadband amplifier is fed to a 3088 ultrasonic power transformer, which is coupled to an ultrasonic power output portion of a 3100 advanced power receptacle. Voltage Feedback (RI) signals ( Ultrasonic V) and current (I), which can be used to calculate ultrasonic impedance, are fed back to the 3082 controller via a 3092 ultrasonic VI RI transformer through an input portion of the 3100 advanced power receptacle. Ultrasonic voltage and current feedback signals are fed back to the 3082 controller through a 3102 analog-to-digital (A/D) converter. There is also, coupled to the controller 3082 through the advanced power receptacle 3100, the isolated DC/DC converter port 3096, which receives DC power from the power bus 3006, and a mid-bandwidth data port 3098.

[0311] In one aspect, the power module 3004 may include a wideband RF power amplifier 3108, which in one aspect may be a linear class H amplifier that is capable of generating arbitrary waveforms and drive RF loads in a range of output frequencies. The 3108 wideband RF power amplifier is powered by a 3107 adjustable step-down regulator to maximize efficiency and is controlled by the 3082 controller, which can be implemented as a PSD through an SDD. SDD can be incorporated into the PSD or implemented, for example,

at MPPC. The 3082 controller controls the 3086 Wideband RF Amplifier through a 3122 CDA. The output of the 3108 Wideband RF Power Amplifier can be powered via the 3124 RF Select Retransmission. RF units 3124 are configured to selectively receive and transmit the output signal from the wideband RF power amplifier 3108 to various other components of the power module 3004. In one aspect, the output signal from the power amplifier 3108 wideband RF can be fed through the 3124 RF select relays to a 3110 RF power transformer, which is coupled to an RF output portion of a 3118 bipolar RF power receptacle. Feedback (RI) of bipolar RF voltage (V) and current (I), which can be used to calculate the RF impedance, are fed back to the 3082 controller via a 3114 RF VI RI transformer through of an input portion from the 3118 bipolar RF power receptacle. The RF voltage and current feedback signals are returned to the 3082 controller through an A/D. There is also, coupled to the 3082 controller through the 3118 bipolar RF power receptacle, the 3112 isolated DC/DC converter port, which receives DC power from the 3006 power bus, and a width data port. low-band 3116.

[0312] As described above, in one aspect, the 3004 power module may include select relays for RF 3124 actuated by the 3082 controller (eg MPPC) at rated coil current for actuation and may also be adjusted to a lower holding current through pulse-width modulation (MLP) to limit steady-state power dissipation. Switching of the select relays to RF 3124 is achieved with the force (safety) guided relays and the contact state status is sensed by the controller

3082 as a mitigation for any single failure conditions. In one aspect, the 3124 RF select relays are configured to be in a first state, where an output RF signal received from an RF source, such as the wideband RF power amplifier 3108, is transmitted to a first component of power module 3004, such as the RF power transformer 3110 of bipolar power receptacle 3118. In a second aspect, the select relays for RF 3124 are configured to be in a second state, where an RF signal of output received from an RF source, such as the wideband RF power amplifier 3108, is transmitted to a second component, such as an RF power transformer 3128 of a monopolar power receptacle 3136, described in more detail below. xed. In a general aspect, the select relays for RF 3124 are configured to be triggered by the controller 3082 to toggle between a plurality of states, such as the first state and the second state, to transmit the output RF signal received from the amplifier. of RF power 3108 between different power receptacles of power module 3004.

[0313] As described above, the output of the wideband RF power amplifier 3108 can also be fed through the select relays for RF 3124 to the wideband RF power transformer 3128 of the monopolar RF receptacle 3136. Single-pole RF voltage (V) and current (I) feedback (RI) signals, which can be used to calculate RF impedance, are fed back to the 3082 controller via an RF VI RI transformer 3130 via an input portion of the 3136 monopolar RF power receptacle. The RF voltage and current feedback signals are returned to the 3082 controller via a 3126 A/D. Also, coupled to the 3082 controller via the 3136 monopolar RF power receptacle, isolated DC/DC converter port

3132, which receives DC power from power bus 3006, and a low-bandwidth data port 3134.

[0314] The output of the 3108 Wideband RF Power Amplifier can also be fed through the 3124 RF Select Relays to the 3090 Wideband RF Power Transformer of the 3100 Advanced Power Receptacle. Feedback signals ( RI) of RF voltage (V) and current (I), which can be used to calculate the RF impedance, are fed back to the 3082 controller via a 3094 RF VI RI transformer through a portion Input input of the 3100 Advanced Power Receptacle. The RF voltage and current feedback signals are returned to the 3082 controller through a 3104 A/D.

[0315] Figure 35 is a block diagram of a second power module 3012 coupled to a header module 3150, in accordance with at least one aspect of the present disclosure. The first power module 3004, shown in Figure 34, is coupled to the second power module 3012 shown in Figure 35 by coupling the second central pass-through controller connector 3078 of the first power module 3004 to a first power module connector. central gateway controller 3074 of the second power module 3012. In one aspect, the second power module 3012 may be a power module similar to the first power module 3004, as illustrated in Figure 35. In another aspect, the second power module 2012 may be a different power module compared to the first power module, such as a power module illustrated in Figure 37 described in more detail. The addition of the second power module 3012 to the first power module 3004 adds functionality to the modular power system

3000.

[0316] The second power module 3012 is coupled to the header module 3150 by connecting the central pass-through controller connector 3078 to the central pass-through controller connector 3152 from the header module 3150. In one aspect, the header module 3150 may include a 3158 header processor that is configured to manage a 3166 power button function, software updates via the 3162 update USB module, system time management and port to external networks (i.e., to the hospital or the cloud) via a 3164 Ethernet module that may be running different protocols. Data is received by header module 3150 through the central gateway controller 3152 connector. Header processor 3158 is also coupled to a 3160 switch for receiving, processing, and forwarding data from the source device to the device target and control data communication between them. The 3158 header processor is also coupled to an OTS 3156 power supply coupled to a 3154 power input module.

[0317] Figure 36 is a block diagram of a header/user interface (UI) module 3002 for a central controller, such as the header module described in Figure 33, in accordance with at least one aspect of the present disclosure. The 3002 header/UI module includes a 3172 header power module, a 3174 wireless header module, a 3176 USB header module, a 3178 audio/screen header module, a network module header 3180 (eg Ethernet), a 3182 backplane connector, a 3184 header standby processor module, and a 3186 header footswitch module. These functional modules interact to provide header/ functionality IU 3002. A 3170 IU/head controller controls each of the functional modules and the communication between them, including the safety critical control logic modules.

3230, 3232 coupled between the 3170 header/IU controller and a 3234 isolated communication module coupled to the 3186 header footswitch module. A 3188 security coprocessor is coupled to the 3170 header/IU controller.

[0318] The 3172 header power module includes a 3190 power input module coupled to an OTS 3192 power supply unit (UFE). Low voltage direct current (eg 5V) standby power is supplied to the 3002 header/IU module and other modules via a 3198 low voltage power bus from the UFE of OTS 3192. High voltage direct current (eg 60V) is supplied to the 3002 header/IU module via a 3200 high voltage bus from the UFE of OTS 3192. The high voltage DC powers the converter modules of the DC/DC 3196 as well as the 3236 isolated DC/DC converter modules. A 3204 standby processor of the 3184 header/standby module provides a 3202 UFE/activate signal to the 3192 OTS UFE.

[0319] The 3174 wireless header module includes a 3212 Wi-fi module and a 3214 Bluetooth module. Both the 3212 Wi-fi module and the 3214 Bluetooth module are coupled to the 3170 Header Controller/UI The 3214 Bluetooth module is used to connect devices without using cables, and the 3212 Wi-fi module provides high-speed access to networks such as the internet, and can be used to create a wireless network that can connecting multiple devices such as multiple power modules or other modules and surgical instruments, among other devices located in the operating room. Bluetooth is a standard wireless technology that is used to exchange data over short distances, such as less than 30 feet.

[0320] The 3176 USB header module includes a 3216 USB port coupled to the 3170 header/UI controller.

USB 3176 provides a standard cable connection interface for modules and other electronic devices in short-haul digital data communications. The 3176 USB module allows modules comprising USB devices to be connected together and transfer digital data via USB cables.

[0321] The 3178 audio/display header module includes a 3220 touch-sensitive screen coupled to a 3218 touch controller. The 3218 touch controller is coupled to the 3170 header/UI controller to read inputs from the 3220 touch-sensitive screen. The 3170 Header/UI controller drives a 3224 LCD screen via a 3222 screen/port video output signal. The 3170 Header/UI controller is coupled to a power amplifier 3226 audio to drive one or more 3228 speakers.

[0322] In one aspect, the 3002 header/UI module provides a 3220 touchscreen user interface configured to control modules connected to a 3002 header or control module in a 3000 modular power system. 3220 touchscreen can be used to maintain a single access point for the user to fit all modules connected to the modular power system 3000. Additional hardware modules (eg a smoke evacuation module) may appear at the bottom of the 3224 user interface LCD display when they connect to the 3002 header/UI module, and may disappear from the 3224 user interface LCD display when they are disconnected from the 3002 header/UI module .

[0323] Additionally, the 3220 User Touchscreen can provide access to the configurations of modules attached to the modular power system 3000. Additionally, the LCD display layout of the 3224 User Interface can be configured to change accordingly with the number and types of modules that are connected to the 3002 header/UI module. For example, a first user interface can be displayed on the 3224 LCD display for a first application, where a power module and an evacuation module The smokers are connected to the 3002 header/UI module, and a second user interface can be displayed on the 3224 LCD display for a second application, where two power modules are connected to the header/UI module. 3002. Additionally, the user interface can change its display on the 3224 LCD display as modules are connected and disconnected from the 3000 modular power system.

[0324] In one aspect, the 3002 header/UI module provides a 3224 user interface LCD display configured to display on the LCD display colors that correspond to the port illumination. In one respect, the coloring of the instrument panel and the LED light around their corresponding port will be the same or otherwise match each other. Each color can, for example, convey a unique meaning. In this way, the user will be able to quickly assess which instrument the indication is referring to, as well as the nature of the indication. Additionally, indications referring to an instrument can be represented by the change in color of the LED light around its corresponding port and the coloration of its module. Still additionally, the on-screen message and hardware/software port alignment can also serve to communicate that an action must be taken on the hardware, not the interface. In many respects, all other instruments can be used while alerts are occurring on other instruments. This allows the user to be able to quickly assess which instrument the indication is referring to, as well as the nature of the indication.

[0325] In one aspect, the 3002 header/UI module provides a user interface screen configured to be displayed on the 3224 LCD display in order to present procedural options to a user.

In one aspect, the user interface can be configured to present the user with a series of options (which can be arranged, for example, from broad to specific). After each selection is made, the 3000 Modular Power System moves to the next level until all selections are made. These settings could be managed locally and transferred via a secondary medium (such as a USB flash drive). Alternatively, settings could be managed through a portal and automatically distributed to all connected systems in the hospital.

[0326] Procedure options can include, for example, a list of factory preset options sorted by specialty, procedure, and procedure type. Upon completion of a user selection, the header module can be configured to set any connected instruments to the factory preset settings for that specific procedure. Procedure options can also include, for example, a list of surgeons, and then the specialty, procedure, and type. After a user completes a selection, the system can suggest the surgeon's preferred instruments and define those instrument settings according to the surgeon's preference (ie, a profile associated with each surgeon, storing the surgeon preferences).

[0327] In one aspect, the 3002 header/UI module provides a user interface display configured to display critical 3224 instrument settings on the LCD display. In one aspect, each instrument panel displayed on the 3224 LCD screen of the user interface corresponds, in terms of placement and content, to the instruments plugged into the 3000 modular power system. When a user touches a panel, he it can expand to reveal additional settings and options for that specific instrument, and the rest of the screen can, for example, go dark or otherwise go out of evidence.

[0328] In one aspect, the 3002 header/UI module provides a user interface instrument settings panel configured to understand/display controls that are unique to an instrument and allow the user to increase or decrease intensity from its output, toggle certain functions, pair it with system accessories like a footswitch connected to the 3186 header footswitch module, access the instrument's advanced settings, and find additional information about the instrument. In one aspect, the user can tap/select an "Advanced Settings" control to expand the advanced settings drawer displayed on the 3224 UI LCD display. In one aspect, the user can then tap/select one icon in the upper right corner of the instrument settings panel, or tap anywhere outside the panel, and the panel will minimize back to its original state. In these respects, the user interface is configured to display on the 3224 LCD display only the most critical instrument settings, such as power level and power mode, on the ready/home screen for each Instrument panel. This is to maximize the size and readability of the system from a distance. In some respects, the panels and their configurations can be scaled proportionally to the number of instruments connected to the system to further improve readability. As more instruments are connected, the panels are sized to display a greater amount of information.

[0329] The 3180 header network module includes a plurality of network interfaces 3264, 3266, 3268 (e.g. Ethernet) to network the 3002 header/IU module with other modules of the modular power system 3000 In the illustrated example, one 3264 network interface can be a third-party network interface, another 3266 network interface can be a hospital network interface, and yet another 3268 network interface can be located on the connector. 3182 rear panel network interface.

[0330] The 3184 standby header processor module includes a 3204 standby processor coupled to a 3210 on/off switch. The 3204 standby processor performs an electrical continuity test by verifying that electrical current flows in a circuit. 3206 continuity check. The continuity test is performed by placing a small voltage across the 3206 continuity circuit. A 3208 serial bus couples the 3204 standby processor to the 3182 backplane connector.

[0331] Header footswitch module 3186 includes a 3240 controller coupled to a plurality of analog footswitch ports 3254, 3256, 3258 via a plurality of corresponding presence/ID and key status modules 3242, 3244 , 3246, respectively. The 3240 controller is also coupled to a 3260 accessory port via a 3248 presence/ID and switch status module and a 3250 transceiver module. The 3260 accessory port is powered by a secondary voltage module

3252. The 3240 controller is coupled to the 3170 header/UI controller via an isolated 3234 communication module and a first and second 3230 safety critical control modules,

3232. The 3186 header footswitch module also includes 3238 DC/DC converter modules.

[0332] In one aspect, the 3002 header/UI module provides a user interface screen configured to display the 3224 LCD display to control a footswitch connected to any of the 3254, 3256 analog footswitch ports , 3258. In some respects, when the user plugs in an instrument not activated by hands on any of the 3254, 3256, 3258 analog trigger ports, the instrument panel appears with a warning icon next to the footswitch icon . The configurations

Instrument settings can be, for example, deactivated if the instrument cannot be activated without a footswitch.

[0333] When the user plugs a footswitch into any of the 3254, 3256, 3258 analog footswitch ports, a pop-up window appears indicating that a footswitch has been assigned to that instrument. The footswitch icon indicates that a footswitch has been connected to and assigned to the instrument. The user can then tap/select that icon to assign, reassign, unassign or otherwise change the settings associated with that footswitch. In these respects, the system is configured to automatically assign footswitches to non-hands-activated instruments using logic, which can additionally assign footswitches with a footswitch or dual footswitch to the appropriate instrument. If the user wants to assign/reassign footswitches manually, there are two streams that can be used.

[0334] In one aspect, the 3002 header/UI module provides a global footswitch button. After the user taps the global footswitch icon (located in the upper right corner of the 3224 user interface LCD display), the footswitch assignment overlay appears and the contents in the instrument modules fade. A representation (eg photorealistic) of each connected footswitch (double or single footswitch) appears in the background if not assigned to an instrument or on the corresponding instrument panel. Consequently, the user can drag and drop these illustrations into and out of the icons in the frames in the Trigger Assignment Overlay to assign, unassign and reassign footswitches to their respective Instruments.

[0335] In one aspect, the 3002 header/UI module provides a user interface screen displayed on the 3224 indi- vidual LCD display.

by auto-assigning the pedal, in accordance with at least one aspect of the present disclosure. As discussed above, the Modular Power System 3000 can be configured to automatically assign a footswitch to an instrument that is not hands-on. In some aspects, the 3002 header/UI module can be configured to correlate the colors displayed on the 3224 user interface LCD display with the lights on the modules themselves as a means of tracking physical ports with the user interface elements. .

[0336] In one aspect, the 3002 header/UI module can be configured to show various user interface applications with different numbers of modules connected to the modular power system 3000. In various aspects, the overall layout or aspect ratio of the user interface elements displayed on the 3224 LCD display can be based on the number and type of instruments plugged into the 3002 header/UI module. These scalable graphics can provide the means to make more use of the screen for better viewing .

[0337] In one aspect, the 3002 header/UI module can be configured to represent a user interface screen on the 3224 LCD display to indicate which ports of the modules connected to the 3000 modular power system are active. In some respects, the 3002 header/UI module can be configured to illustrate active ports versus inactive ports by highlighting active ports and dimming inactive ports. In one aspect, ports can be represented with colors when they are active (eg, monopolar tissue cut with yellow, monopolar tissue coagulation with blue, bipolar tissue cut with blue, advanced energy tissue cut with warm white , and so on). Also, the displayed color will match the color of the light pipe around the ports. Coloring can additionally indicate that the user cannot change the settings of other Instruments while an instrument is active. As another example, the 3002 header/UI module can be configured to represent the bipolar, monopolar, and ultrasonic ports of a first power module as active, and the monopolar ports of a second power module as equally active.

[0338] In one aspect, the 3002 header/UI module can be configured to represent a user interface screen on the 3224 LCD display to display a global settings menu. In one aspect, the 3002 header/UI module can be configured to display a menu on the 3224 LCD display to control global settings through any modules connected to the 3000 modular power system. The global settings menu can, by example, always be displayed in a consistent location (for example, always available in the upper right corner of the main screen).

[0339] In one aspect, the 3002 header/UI module can be configured to represent a user interface screen on the 3224 LCD display configured to avoid changing settings while a surgical instrument is being used. In one example, header/UI module 3002 can be configured to prevent settings from being changed via a menu displayed when a connected instrument is active. The user interface screen can include, for example, an area (eg the upper left corner) that is reserved to indicate instrument activation, while a settings menu is open. In one aspect, a user has opened bipolar settings while monopolar coagulation is active. In one aspect, the settings menu could then be used after activation is complete. In one aspect, the 3002 header/UI module can be configured to never override any menu or other input.

Dedicated area formations to indicate critical instrument information to keep displaying critical information.

[0340] In one aspect, the 3002 header/UI module can be configured to represent a user interface screen on the 3224 LCD display configured to display instrument errors. In one aspect, instrument error warnings can be displayed on the instrument panel itself, allowing the user to continue using other Instruments while a nurse resolves the error. This allows users to continue the surgery without having to interrupt the surgery to debug the instrument.

[0341] In one aspect, the 3002 header/UI module can be configured to represent a user interface screen on the 3224 LCD display to display different modes or settings available for various instruments. In various respects, the 3002 header/UI module can be configured to display menus of settings that are suitable for the type or application of the surgical instrument(s) connected to the battery. /central controller. Each settings menu can provide options for different power levels, energy release profiles, and more that are suitable for the specific instrument type. In one aspect, the 3002 header/UI module can be configured to display different modes available for bipolar, monopolar, and monopolar coagulation applications.

[0342] In one aspect, the 3002 header/UI module can be configured to represent a user interface screen on the 3224 LCD display to display pre-selected display settings. In one aspect, the 3002 header/UI module can be configured to receive selections for the instrument/device settings before connecting to the instruments so that the 3000 modular power system is ready before the patient enters the room. of operation.

In one aspect, the user can simply click on a port and then change the settings for that port. In the appearance shown, the selected port is dimmed to indicate that the settings are defined but that no instrument is connected to that port.

[0343] Figure 37 is a block diagram of a 3270 power module for a central controller, such as the power module depicted in Figures 31, 32, 34 and 35, in accordance with at least one aspect of the present disclosure. The 3270 power module is configured to mate with a header module, header/UI module, and other power modules through the first and second connectors of the 3272, 3276 gateway central controller. 3076 disposed between the first and second connectors of the gateway central controller 3272, 3276 receives, processes and forwards data from the source device to the destination device and controls data communication between them. Data is received and transmitted over the 3008 data bus. The 3270 power module includes a 3082 controller to control various communication and processing functions of the 3270 power module.

[0344] DC power is received and transmitted by the 3270 power module through the 3006 power bus. The 3006 power bus is coupled to the 3138 DC/DC converter modules to supply power to the 3084, 3107 adjustable regulators, and ports of isolated DC/DC converters 3096, 3112, 3132.

[0345] In one aspect, the 3270 power module may include a 3086 ultrasonic broadband amplifier, which in one aspect may be a class H linear amplifier that is capable of generating arbitrary waveforms and driving harmonic transducers at low levels of total harmonic distortion (DHT). The 3086 broadband ultrasonic amplifier is powered by a 3084 adjustable step-down regulator to maximize efficiency and is controlled by the 3082 controller, which can be implemented as a digital signal processor (PSD), eg via a synthesizer direct digital (SDD). SDD can be incorporated into the PSD or implemented, for example, in the field-programmable port array (MPPC). The 3082 controller controls the 3086 ultrasonic broadband amplifier through a 3106 Digital-to-Analog Converter (CDA). The output of the 3086 ultrasonic broadband amplifier is fed to a 3088 ultrasonic power transformer, which is coupled to an ultrasonic power output portion of the 3100 advanced power receptacle. Voltage (V) Feedback (RI) signals ) and ultrasonic current (I), which can be used to calculate the ultrasonic impedance, are fed back to the 3082 controller via a 3092 ultrasonic VI RI transformer through an input portion of the advanced power receptacle. 3100. The ultrasonic voltage and current feedback signals are routed back to the 3082 controller through a 3280 analog multiplexer and a 3278 dual analog-to-digital (A/D) converter. In one aspect, the 3278 dual A/D has a sampling rate of 80 MSPS. There is also, coupled to the 3082 controller via the 3100 advanced power receptacle, the isolated DC/DC converter port 3096, which receives DC power from the 3006 power bus, and a 3098 mid-bandwidth data port.

[0346] In one aspect, the 3270 power module may include a plurality of wideband RF power amplifiers 3108, 3286, 3288, among others, where, in one aspect, each of the RF power amplifiers Broadband 3108, 3286, 3288 may be Class H linear amplifiers capable of generating arbitrary waveforms and driving RF loads over a range of output frequencies. Each of the 3108 wideband RF power amplifiers,

3286, 3288 is powered by a 3107 adjustable step-down regulator to maximize efficiency and is controlled by the 3082 controller, which can be implemented as a PSD via an SDD. The SDD can be incorporated in the PSD or implemented, for example, in the MPPC. Controller 3082 controls the first wideband RF power amplifier 3108 through a CDA 3122.

[0347] Unlike the 3004, 3012 power modules shown and described in Figures 34 and 35, the 3270 power module does not include RF select relays configured to receive an RF output signal from the 3107 adjustable step-down regulator. In addition, unlike power modules 3004, 3012 shown and described in Figures 34 and 35, power module 3270 includes a plurality of wideband RF power amplifiers 3108, 3286, 3288 rather than a single RF power amplifier. In one aspect, tunable step-down regulator 3107 can toggle between a plurality of states, in which tunable step-down regulator 3107 outputs an output RF signal to one of the plurality of wideband RF power amplifiers 3108, 3286 , 3288 connected to it. The 3082 controller is configured to toggle the 3107 adjustable step-down regulator between the plurality of states. In a first state, the controller drives the adjustable step-down regulator 3107 to output an RF energy signal to the first wideband RF power amplifier 3108. In a second state, the controller drives the adjustable step-down regulator 3107 to output an RF energy signal to the second 3286 wideband RF power amplifier. In a third state, the controller drives the adjustable dimmer 3107 to output an RF energy signal to the third 3288 wideband RF power amplifier.

[0348] The output of the first wideband RF power amplifier 3108 can be fed to a wideband power transformer.

RF 3090, which is coupled to an RF output portion of an advanced 3100 power receptacle. The RF voltage (V) and current (I) feedback (RI) signals, which can be used to calculate the RF impedance, are fed back to the 3082 controller via 3094 RF VI RI transformers through an input portion of the 3100 advanced power receptacle. The RF voltage and current feedback signals are routed back to the 3082 controller via 3094 RF VI RI transformers, which are coupled to a 3284 analog multiplexer and a 3282 dual A/D coupled to the 3082 controller. In one aspect, the 3282 dual A/D has a rate of sampling of 80 MSPS.

[0349] The output of the second 3286 wideband RF power amplifier is fed through an RF power transformer 3128 of the monopolar RF receptacle 3136. The feedback (RI) signals of voltage (V) and current (I) RF Monopolar, which can be used to calculate RF impedance, are fed back to the 3082 controller via RI RF 3130 RI transformers through an input portion of the RF Monopolar Power Receptacle 3136. The RF voltage and current feedback signals are routed back to the 3082 controller through the 3284 analog multiplexer and the 3282 dual A/D. - home 3136, the isolated DC/DC converter port 3132, which receives DC power from the power bus 3006, and a low-bandwidth data port 3134.

[0350] The output of the third 3288 wideband RF power amplifier is fed through a 3110 RF power transformer of a 3118 RF bipolar receptacle. Voltage (V) Feedback (RI) signals ) and bipolar RF current (I), which can be used to calculate RF impedance, are feedback loops.

to the 3082 controller via 3114 RF VI RI transformers through an input portion of the 3118 bipolar RF power receptacle. The RF voltage and current feedback signals are routed back to the controller 3082 via the 3280 analog multiplexer and 3278 dual A/D. There is also, coupled to the 3082 controller via the 3118 bipolar RF power receptacle, the 3112 isolated dc/dc converter port, which receives dc power from the power bus 3006, and a low bandwidth data port 3116.

[0351] A 3290 contact monitor is coupled to an NE 3292 receptacle. Power is fed to the NE 3292 receptacle from the 3136 monopolar receptacle.

[0352] In one aspect, with reference to Figures 31 to 37, the modular power system 3000 can be configured to detect the presence of the instrument in a receptacle 3100, 3118, 3136 through a photo switch, magnetic sensor, or another non-contact sensor integrated in the 3100, 3118, 3136 receptacle. This approach avoids the need to assign a dedicated presence pin on the MTD connector for a single purpose and instead enables multi-functionality for the MTD 6 signal pins -9, while continuously monitoring instrument presence.

[0353] In one aspect, with reference to Figures 31 to 37, the modules of the modular power system 3000 may include an optical link that enables high speed communication (10 to 50 Mb/s) along the contour of isolation of the patient. This link would carry device communications, mitigation signals (surveillance etc.) and low bandwidth usage time data. In some respects, the optical link(s) will not contain the real-time sampled data, which can be done on the non-isolated side.

[0354] In one aspect, with reference to Figures 31 to 37, the modules

The modular power system 3000 can include a multifunctional circuit block that can: (i) read presence resistor values by A/D and current source, (ii) communicate with legacy instruments via Q protocols from manual switching, (iii) communicate with instruments through protocols with local bus cables 1 and (iv) communicate with CAN FD-enabled surgical instruments. When a surgical instrument is properly identified by an energy generating module, the pin functions and relevant communication circuits are enabled, while other unused functions are disabled and set to a high impedance state. .

[0355] In one aspect, referring to Figures 31 to 37, the modules of the modular power system 3000 may include an auxiliary DC amplifier/stimulate/amplifier pulse. This is a flexible use amplifier based on a full bridge output and incorporates functional isolation. This allows its differential output to be referenced to any output connection on the applied part (except, in some respects, to a monopolar active electrode). The amplifier output can be a small linear signal (pulse/repetitive action) with waveform drive provided by a CDA or a square wave drive with moderate output power for DC applications such as DC motors, lighting , FET activation etc. Output voltage and current are sensed with functionally isolated voltage to provide accurate impedance and voltage measurements for the MPPC. Once paired with a CAN FD enabled instrument, this output can provide motor/motion control drive, while position or speed feedback is provided by the CAN FD interface for closed-loop control. Power module electrical ground

[0356] In many respects, an end user can assemble any suitable number of modules in a variety of different stacked configurations that support the flow of electrical energy between them. The modular power system is assembled or modified by an end user, either before or during a surgical procedure. As the manufacturer is not involved in the final assembly of a modular power system, proper precautions are taken to ensure proper electrical grounding of an assembled modular power system and/or the alignment of modules within the power system. modular power.

[0357] In many respects, accessible metal in the modular power system is grounded, as a precaution, or is separated from live circuits to ensure user safety. This requirement is especially necessary in cases where the secondary circuits are referenced to the module chassis ground. Additionally, protective earthing connections between modules in a modular power system must meet the stringent requirements of the International Electrotechnical Commission ("IEC") maximum impedance standard 60601.

[0358] In a general aspect, the present disclosure provides a grounding arrangement for a modular power system comprising an independent bridge connector between the system modules and the grounds that come in contact with each other before the ground connection .

[0359] In another general aspect, the present disclosure provides a surgical system comprising a first surgical module and a second surgical module. The first surgical module comprises a first housing comprising a bottom surface, a grounding base that extends from the bottom surface for a first distance, and an insulating base that extends from the bottom surface by a second distance, where the second distance is greater than the first distance. The second module

The surgical insert comprises a second housing comprising a top surface, a first receiving socket defined in the top surface, the first receiving socket comprising a first base which is positioned a third distance from the top surface. , and wherein the first receiving socket is configured to receive the grounding base from the first surgical module, and a second receiving socket defined in the top surface, the second receiving socket comprising a second base that is positioned a fourth distance from the top surface, the fourth distance being greater than the third distance, and the second receiving socket being configured to receive the insulating base of the first surgical module. Additionally, when the grounding base is positioned in the first receiving socket and the insulating base is positioned in the second receiving socket, the grounding base contacts the first base of the first receiving socket and the insulating base does not contact the second base of the second take-up socket.

[0360] In another general aspect, the present disclosure provides a surgical system comprising a first surgical module and a second surgical module. The first surgical module comprises a first housing comprising a bottom surface, a grounding base that extends from the bottom surface for a first distance, and an insulating base that extends from the bottom surface by a second distance, where the second distance is greater than the first distance. The second surgical module comprises a second housing comprising a top surface, a first receiving socket defined in the top surface, the first receiving socket comprising a first base which is positioned a third distance from it. of the top surface, and the first receiving socket being configured to receive the grounding base from the first surgical module, and a second receiving socket defined in the top surface, the second receiving socket comprising - end a second base which is positioned a fourth distance from the top surface, the fourth distance being greater than the third distance, and the second receiving socket being configured to receive the insulating base of the first module surgical. Additionally, when the grounding base is positioned in the first receiving socket and the insulating base is positioned in the second receiving socket, the grounding base contacts the first base of the first receiving socket and the insulating base does not contact the second base of the second take-up socket.

[0361] In another general aspect, the present disclosure provides a surgical platform comprising a first surgical module and a second surgical module. The first surgical module is configured to be mounted in a stack configuration with the second surgical module. The first surgical module comprises a first bridge connector portion comprising first electrical connection elements and a first housing. The second surgical module comprises a second bridge connector portion and a metal contact secured to the outer cabinet. The second portion of the bridge connector comprises the second electrical elements and an outer cabinet that extends at least partially around the second electrical elements. The metal contact is configured to engage the housing of the first surgical module during assembly before the second electrical connection elements of the second bridge connector portion engage the first electrical connection elements of the first bridge connector portion.

[0362] Referring to Figure 38, three surgical modules, a first module 9502, a second module 9504, and a third module 9506, are assembled together in a stacked configuration by an end user to form a modular power system 9500. Each module 9502, 9504, and 9506 can be the same type of surgical module or different types of surgical modules. For example, each module 9502, 9504, and 9506 can be a header module, a power module, a generator module, an imaging module, a smoke evacuation module, a suction/irrigation module, a communication, a processor module, a storage arrangement, a surgical device coupled to a screen, a non-contact sensor module, or other modular device. These and other such modules are described above under the headings SURGICAL CONTROLLERS and MODULAR POWER SYSTEM. As illustrated in Figure 38, first module 9502 is a header module, second module 9504 is a generator module, and third module 9506 is a generator module.

[0363] Each module 9502, 9504, 9506 can comprise a housing that can be made of a conductive material such as metal. For example, first module 9502 may comprise a housing 9508 comprising a top surface 9508a and a bottom surface 9508b. Second module 9504 may comprise a housing 9510 comprising a top surface 9510a and a bottom surface 9510b. Third module 9506 may comprise a housing 9512 comprising a top surface 9512a and a bottom surface 9512b. Each module 9502, 9504, 9506 may comprise branch circuits that are referenced to the module chassis ground through its enclosure 9508, 9510, 9512.

[0364] Each module 9502, 9504, 9506 can be configured to be mounted in a stacked configuration with an adjacent module.

to form modular power system 9500. For example, bottom surface 9508b of housing 9508 of first module 9502 may be configured to engage top surface 9510a of housing 9510 of second module 9504. Bottom surface 9510b of housing 9510 of first module 9504 can be configured to engage top surface 9512a of housing 9512 of third module 9506. In various aspects, modular power system 9500 includes a surgical module or additional surgical modules, or the 9500 modular power system may not include one of the 9502, 9504, 9506 modules.

[0365] In many respects, to electrically ground a modular power system, such as the 9500 modular power system, multiple points of contact are established between adjacent modules to achieve a common ground. In this way, regardless of the stacked configuration of the 9500 modular power system, electrical ground can be maintained throughout the 9500 modular power system. For example, an upper module stacked on top of a lower module can be grounded through the module lower in order to achieve common ground, or a lower module can be grounded through the upper module. For example, the first module 9502 can be grounded through the second module 9504 and the second module 9504 can be grounded through the third module 9506; in this way, a common ground is achieved in the 9500 modular power system. In this way, grounding one of the 9502, 9504, 9506 modules can ground all 9502, 9504, 9506 modules. Additionally, multiple contact points can facilitate efficient assembly of the stacked configuration of the 9500 power system, and multiple points of contact can ensure that the modular 9500 power system will maintain its configuration when subjected to external forces.

[0366] Now referring to Figure 39A, a bottom surface 9516b of a housing 9516 of a surgical module 9514 is shown. Module 9514 is representative of modules 9502, 9504 and

9506. Bottom surface 9516b of housing 9516 may include one or more ground features, such as two or more ground features, three or more ground features, or four or more ground features. For example, as illustrated, the bottom surface 9516b may comprise four grounding features 9518a ad, sized and spaced such that the grounding features 9518a ad can engage the grounding features of a separate module, thus providing direct contact between modules at multiple points. The contact can ensure that a common ground is achieved between the modules, and that the 9514 module can maintain its position relative to a coupling module when subjected to external forces.

[0367] Bottom surface 9516b of housing 9516 comprises an opening 9542 that is shaped and configured to mount a bridge connector portion 9520 (eg, a female bridge connector portion). Bridge connector portion 9520 includes a recess 9538 that is molded and configured to receive a bridge connector portion (e.g., a male bridge connector portion) from a separate module.

[0368] Referring now to Figure 40, a top surface 9516a of housing 9516 of module 9514 is shown. Top surface 9516a of housing 9516 may include one or more grounding features, such as two or more grounding features, three or more grounding features, or four or more grounding features. For example, as illustrated, top surface 9516a may comprise four ground features 9522a-d. The 9522a ad grounding features on the 9516a top surface are sized and spaced so that the 9522a ad grounding features can engage the grounding features of a separate module, thus providing direct contact between the modules at multiple points . The contact can ensure that a common ground is achieved between the modules, and that the 9514 module can maintain its position relative to the coupling module when subjected to external forces.

[0369] A bridge connector portion 9536 (eg, a male bridge connector portion) is mounted to the top surface 9516a of the 9516 housing 9516 of module 9514 and extends away from module 9514. When a Top Module is stacked on top of module 9514, the bridge connector portion of module 9514 is inserted into the recess of a female bridge connector portion of the upper surgical module, thereby establishing electrical and/or signal communication between the modules and/or the alignment between the modules. In an alternative configuration where a male bridge connector portion is on the bottom surface of a top module, and the female connector portion is on the top surface of a bottom module, when the top module is stacked on top the top of the lower module, the male bridge connector portion of the upper module is inserted into the recess of the female bridge connector portion of the lower module, thus establishing electrical and/or signal communication between the modules and/or the alignment between the modules. modules.

[0370] In various aspects, the bridge connector portion 9536 may comprise a grounding feature configured to establish a common ground between the modules. For example, referring to Figure 43, a 9570 male bridge connector portion is shown, including a 9574 grounding feature attached to an outer enclosure 9572 of the 9570 male bridge connector portion. less partially around the 9576 electrical connection elements. The 9572 outer enclosure is rectangular and rounded along the length of the 9572 outer enclosure. The 9572 outer enclosure includes rounded or curved 9578 top faces that allow portions of the connectors to be connected. male and female bridge line up even if the modules are at a difficult angle to each other. In other words, the 9572 outer enclosure is shaped and/or sized to guide the 9576 electrical connection elements and the 9574 grounding feature into a properly aligned engagement with a female bridge connector. Grounding feature 9574 is attached to a first side 9572a of outer enclosure 9572 and is in electrical communication with a respective module enclosure and/or with a respective module ground. In various respects, another grounding feature (not shown) is attached to a second side 9572b of the 9572 outer enclosure and is in electrical communication with the respective module housing and/or the respective module ground. In many respects, first side 9572a and second side 9572b are shorter than third side 9572c and fourth side 9572d of outer enclosure 9572. Grounding feature 9574 may comprise a metal contact, such as a spring contact.

[0371] When an upper module is stacked on top of a lower module comprising the male bridge connector portion 9570 on a top surface of the lower module, the male bridge connector portion 9570 is inserted into the recess of a female bridge connector on the bottom surface of the upper surgical module. After insertion, the 9574 grounding feature can engage the upper surgical module housing. For example, male bridge connector portion 9570 may be inserted into recess 9538 of module 9514 in Figure 39A. After insertion, the grounding feature.

to 9574 can directly contact housing 9516 near opening 9542, thus achieving a common ground between a surgical module comprising the male bridge connector portion 9570 and module 9514.

[0372] Additionally, the 9572 outer enclosure of the 9570 male bridge connector portion is molded and/or sized to guide the 9574 grounding feature in direct contact with the housing of a separate module. In aspects where the 9574 grounding feature is a spring contact, the spring action is transitioned to a prone configuration responsive to direct contact with the separate module housing. Spring contact can ensure that a proper common ground is established between the modules.

[0373] Additionally, the 9574 grounding feature can be configured to engage the housing of a separate module during assembly before the electrical connection elements 9576 of the 9570 male bridge connector portion engage the electrical connection elements of a portion of bridge connector on separate module. That is, the 9574 grounding feature can be positioned over the 9572 external enclosure relative to the 9576 electrical connection elements so that the 9574 grounding feature will engage with the separate module enclosure during assembly before the elements connection slots 9576 of the male bridge connector portion 9570 engage the electrical elements of a bridge connector portion on the separate module. Therefore, a ground ground can be achieved between the modules before engaging the bridge connector portions, which can ensure user safety.

[0374] In addition to the 9574 grounding feature or, alternatively, the 9574 grounding feature, the direct contact between the grounding features on a top surface of a lower module housing and the grounding features on the surface of The bottom of a housing of a top module stacked on top of the bottom module works to ground the top module to the bottom module, thus resulting in multiple points of contact to maintain a path of least resistance (eg, electrical resistance between the modules). When the upper module is stacked on top of a lower module, the weight of the upper module keeps the grounding features on the bottom surface of the upper module in electrical communication with the grounding features on the top surface of the lower module .

[0375] In addition, the 9518a-d and 9522a-d grounding features of the 9514 module can be arranged in a spread-out configuration to maintain a path of least resistance between surgical modules in the stacked configuration. For example, ground features 9518a ad may be spaced near four corners of the bottom surface 9516b of housing 9516 and ground features 9522a ad may be spaced approximately four corners of the top surface 9516a of housing 9516 That is, bottom surface 9516b can comprise one of ground features 9518a ad at each corner, and top surface 9516a can comprise one of ground features 9522a ad at each corner. The positions of the grounding features 9518a through d on the bottom surface 9516b can mirror the positions of the grounding features 9522a through d on the top surface 9516a, thus providing stability for the stacked configuration.

[0376] Ground features 9518a through d and 9522a through d can be molded into the 9516 housing, or ground features 9518a through d and 9522a through d can be attached to the housing. For example, grounding features 9518a ad and 9522a ad can be at least one of a receiving socket molded into housing 9516, a grounding block molded into housing 9516, a conductive pin secured to housing 9516, or a conductive socket. tethered to casing 9516.

[0377] In various respects, grounding features 9518a ad extend away from the bottom surface 9516b of housing 9516 and module 9514 (eg, grounding base) and are sized and spaced apart so that the features grounding devices 9518a ad can be received by the receiving sockets of a separate module, thus providing direct contact between the modules in four different places. Additionally, in many respects, the 9522a ad grounding features are configured as receiving sockets and are sized and spaced apart so that the grounding pad of a separate surgical module can be accommodated within the grounding features. ground 9522a ad, thus providing direct contact between the surgical modules in four different places. Direct contact can effect a common ground, provide a path of least resistance, and maintain the 9514 module position when subjected to external forces.

[0378] Grounding features 9518a ad can have various shapes, such as circular, as illustrated in Figures 39A to B. A detailed view of a single grounding feature 9518 of grounding features 9518a ad can be seen in Figure 39B. A 9524a base portion of ground feature 9518 may have a first diameter, ɸ1. Grounding feature 9518 may taper inward from base portion 9524a to form an accommodating portion 9524b of the grounding feature

9518. Tapering can facilitate alignment of modules during assembly. Accommodation portion 9524b may have a second diameter, ɸ2, which is smaller than the first diameter, ɸ1 of base portion 9524a. Housing portion 9524b may be configured to be accommodated in a housing receiving a top surface of a separate module housing.

[0379] Similarly, the 9522a ad grounding features can have various shapes such as circular, as illustrated in Figure 40. The 9522a ad grounding features can individually comprise a third diameter, ɸ3, near top surface 9516a, which can be sized to receive grounding pads on a bottom surface of a separate module housing and/or engage the conductive columns on the bottom surface. For example, the third diameter, ɸ3, of the grounding features 9522a to d, may be larger than the second diameter, 2, of the accommodation portion 9524b of the grounding features 9518a to d. It is contemplated that grounding features 9518a through d and 9522a through d may be other shapes and sizes.

[0380] In aspects comprising the grounding base extending from the bottom surface of a module, the arrangement of the grounding features can leave the lowest/bottom module grounding features in a stacked arrangement of a system - modular power ma without corresponding receiving sockets in a separate module. One possible solution, albeit expensive, is to design a module specifically to function as the lowest/background module in the stacked configuration of the modular power system. However, an end user may mistakenly attempt to mount this specially designed module in an intermediate position in the stacked configuration of the modular power system, potentially leaving the lowest/bottom module grounding capabilities in the exposed stacked configuration. . In addition, when a series of modules are assembled together to form the stacked configuration of the modular power system, the stacked modular power system is expected to rest on a flat surface such as a cart. , a table or the like. Position the grounding resources-

against these flat surfaces can be problematic. Furthermore, it is desirable that any stacked modular power system module can be positioned in the lowest/bottom position in the stacked configuration without having to worry about achieving a specific modular power system arrangement . Enabling agnostic placement of modules can improve the ease of assembly of the modular power system.

[0381] Figures 39A to B and 40 present a solution to the problems mentioned above that occur when a surgical module is positioned on the lowest/bottom position (for example, the third module 9506 in Figure 38) in the configuration modular power system 9500 and rests on a flat surface. In various aspects, the bottom surface 9516b of housing 9516 additionally includes an insulating base or insulating bases. For example, again referring to Figure 39A, bottom surface 9516b includes four insulated bases 9526a ad that extend from bottom surface 9516b of housing 9516. Insulated bases 9526a ad are configured to electrically insulate the housing 9516 from the flat surface and/or maintain the position of module 9514 relative to the flat surface when exposed to external forces. Grounding features 9518a ad extend from bottom surface 9516b of housing 9516 for a first distance, d1, and insulated bases 9526a ad extend from bottom surface 9516b of housing 9516 for a second distance. distance, d2, so that when the 9514 module is placed in the lowest/bottom position in the stacked configuration of the 9500 modular power system, the 9518a ad grounding features do not rest on the flat surface. Insulated bases 9526a through d rest on the flat surface and can prevent grounding features 9518a through d from engaging the flat surface.

[0382] Insulated bases 9526a through d can electrically insulate enclosure 9516 from the flat surface. For example, insulated base 9526a-d may comprise an insulating material such as rubber. It is contemplated that other insulating materials can be used to form insulating bases 9526a-d. In addition, insulated base material 9526a-d can be selected to create friction between module 9514 and the flat surface in order to maintain the position of module 9514 relative to the flat surface when subjected to external forces.

[0383] Insulated bases 9526a through d can be spaced apart in a spread configuration to provide stability to the 9514 module and/or the surgical modules stacked on top of the module

9514. For example, insulated bases 9526a ad may be spaced near the four corners of bottom surface 9516b of housing 9516. For example, an insulated base of insulated bases 9526a ad may be positioned at each corner of the housing surface. background 9516b. The amount of isolated bases 9526a to d can correspond to the amount of grounding resources 9518a to d.

[0384] Insulated bases 9526a ad can have various shapes, for example as illustrated in Figures 39A to B. Insulated base 9526 can taper in from a portion of base 9580a to form a portion 9580b of insulated base 9526. Tapering can facilitate alignment of modules during assembly. Housing portion 9580b may be configured to be accommodated in a housing receiving a top surface of a separate module housing.

[0385] Each isolated base 9526a through d can be configured in an "L" shape. For example, in Figure 39B, the "L" shaped configuration of an individual insulated base 9526 of the insulated bases 9526a to d is shown. Referring again to Figure 39A, the "L" shaped configuration of insulated bases 9526a through d can provide mechanical stability when module 9514 is placed.

over the top of the flat surface, ensuring that the 9514 module will maintain its position when subjected to external forces. It is contemplated that insulated bases 9526a through d may be of other shapes and sizes.

[0386] In various aspects, the top surface 9516a of housing 9516 additionally includes one or more receiving sockets sized and configured to receive an insulated base or insulated bases of a separate surgical module, so that the grounding features. the respective modules can make direct contact to effect a common ground. For example, again referring to Figure 40, top surface 9516a of housing 9516 includes four insulated bases that receive sockets 9528a through d. The 9528a through d receiving sockets can be spaced apart in a spread configuration to align the 9514 module with the separate module. For example, the receiving sockets 9528a ad are spaced apart so that the insulated bases of a separate module will be positioned within the receiving sockets 9528a ad when the separate module is stacked on top of the module 9514 As illustrated in Figure 40, the receiving sockets 9528a ad are spaced near the four corners of the top surface 9516a of the housing 9516. For example, one of the receiving sockets 9528a ad is positioned at each corner of the super. - top face 9516a of housing 9516. Receiving fittings 9528a ad are sized and configured to receive the insulated bases of a separate module.

[0387] The receiving sockets of the grounding features 9522a to d of the top surface 9516a of the module may individually include a base that is positioned a third distance, d3, from the top surface 9516a. In many respects, the third distance, d3, is less than or equal to the first distance, d 1, so that the ground base of a separate module can be connected.

contact the base of the grounding feature receiving sockets 9522a through d. Each of the receiving sockets 9528a through d includes a base that is positioned a fourth distance, d 4, from the top surface 9516a. In various aspects, the fourth distance, d4, is greater than the second distance, d2, so that the isolated bases of a separate module can be received by the receive sockets 9528a through d.

[0388] Figure 41 illustrates a cut-away view of a portion of an upper surgical module 9530 stacked on a lower surgical module 9532. The upper module 9530 and the lower module 9532 can be the same or different types of modules. A 9526 insulated base representative of the 9526a ad insulated bases, a 9518 grounding feature representative of the 9518a ad grounding features, a 9522 grounding feature representative of the 9522a ad grounding features, and a 9528 insulating base receiving socket representative of the sockets of 9528a ad receptacle are shown in Figure 41. The 9530 top module includes the 9518 grounding feature and the 9526 insulating base extending from the 9534b bottom surface of the 9530 top module housing 9534. ground 9518 extends from the bottom surface 9534b of the casing 9534 of the top module 9530 for a first distance, d 1, while the insulated base 9526 extends from the bottom surface 9534b of the casing 9534 of the top module 9530 by a second distance, d 2. The second distance, d 2, is different from the first distance, d 1. So if the top module 9530 is placed on a flat surface, the base Insulator 9526 may contact the flat surface before the 9518 ground feature and may prevent the 9518 ground feature from contacting the flat surface.

[0389] Lower module 9532 includes grounding feature 9522 and insulated base receiving socket 9528 on a top surface 9540a of a housing 9540 of lower module 9532. ground 9544 defined on top surface 9540a. Receiving socket 9544 is sized and configured to receive the 9518 grounding feature of the top module 9530. Receiving socket 9544 includes a base 9544a that is positioned a third distance, d3, from the top surface 9540a. In many respects, the third distance, d3, is less than or equal to the first distance, d1.

[0390] Receiving fitting 9528 is defined on top surface 9540a of housing 9540 of lower module 9532. Receiving fitting 9528 is sized and configured to receive insulated base 9526 of upper module 9530. receiving socket 9528 includes a base 9546a which is positioned a fourth distance, d 4, from top surface 9540a. As illustrated, the fourth distance, d4, is greater than the second distance, d2.

[0391] Due to the size and configuration of the 9518 grounding feature, the 9526 insulated base, the 9522 grounding feature, and the 9528 receiving socket, when the top 9530 module is stacked on top of the bottom 9532 module, the 9518 grounding feature is accommodated in the 9544 receiving socket of the 9522 grounding feature so that the 9518 grounding feature makes direct contact with the 9544a base of the 9544 receiving socket. with base 9544a, insulated base 9526 does not make contact with base 9546a of receiving socket 9528 and a gap 9548 is formed between insulated base 9526 and base 9546a of receiving socket 9528. and 9522 are in direct contact with each other, and a common ground forms.

[0392] In an alternate configuration, with reference to Figure

44, a grounding feature 9592 may extend away from a top surface 9594a of a housing 9594 of a module 9596 (eg, forming the grounding base). Furthermore, in various aspects, a grounding feature 9582 of a bottom surface 9584a of a housing 9584 of a separate module 9586 can be configured as a receiving surface, which is sized so that the grounding base of a separate surgical module can be accommodated over or otherwise contacting the 9592 grounding features, thereby providing direct contact between the surgical modules. Grounding feature 9592 may be a substantially flat surface that may not protrude from bottom surface 9584a of housing 9584. Module 9596 may comprise a receiving socket 9590 defined in top surface 9594a that is dimensioned and configured to receive the 9588 insulated base from the 9586 module. Although the 9582 grounding feature makes direct contact with the 9592 grounding feature, the 9588 insulated base does not make contact with the 9590 receiving socket, and a 9600 gap if form between the insulated base 9588 and the receiving socket 9590.

[0393] Therefore, when an upper module is stacked on top of a lower module to form a stack configuration, the ground features of the upper module are in direct contact with the ground features of the interior module, and the bases insulated from the upper module are floating in the lower module receiving slots, thus defining a gap between them. When the lower surgical module is removed from the stack configuration and the upper module is placed on a flat surface, the insulated base of the upper module makes direct contact with the flat surface, while the upper module's grounding features do not contact the flat surface, due to the insulated bases are

tend for a greater distance from the bottom surface of the upper module housing than the grounding features.

[0394] The configuration described above allows each module to have grounding capabilities, insulated bases and identical reception sockets, regardless of the position of the module within the stacked arrangement of a modular power system, thus enabling assembly efficiency of the 9500 modular power system.

[0395] With reference to Figures 42A and 42B, an upper surgical module 9552 and a lower surgical module 9554 are shown in a stack configuration of a portion of a modular power system 9550. The upper module 9552 and the lower module 9554 may be the same or different types of modules.

[0396] As illustrated in Figure 42A, two grounding features 9558a and b of the lower module 9554 are shown. Each grounding feature 9558a and b can be configured individually as a conductive column or as a conductive socket. As illustrated, grounding features 9558a and b are configured as conductive columns extending from a top surface 9560a of an enclosure 9560 of lower module 9554. In many respects, conductive columns 9558a and b can be integrated into the housing 9560 of lower module 9554 or conductive columns 9558a and b can be secured to housing 9560 of lower module 9554. For example, conductive posts 9558a and b can be secured to housing 9560 of lower module 9554 with nuts and/or with or without lock washers.

[0397] Two 9562a and b ground features of the top module 9552 are shown. Each 9562a and b ground feature can be configured individually as a conductive column or as a conductive socket. As illustrated, the 9562a and b ground features are configured as conductive columns defined in a 9564b bottom surface of an enclosure 9564 of the top module 9552. When the top and bottom modules 9552, 9554 are in a stacked configuration, the 9558a and b conductive columns of the 9554 lower module may be retained in the corresponding 9562a and b conductive sockets of the 9552 upper module.

[0398] Column/socket configuration of 9552, 9554 modules can optimize alignment between modules. For example, ground features 9558a and b can be sized and configured to engage ground features 9562a and b prior to engagement of a bottom bridge connector portion (not shown) of the top module 9552 (e.g., the portion of bridge connector 9520 in Figure 39A) and a top bridge connector portion (not shown) of the lower module 9554 (for example, the bridge connector portion 9536 in Figure 40), so that proper alignment of the bridge connector portions are achieved when mounting modules 9552, 9554 in a stacked configuration. In various respects, it may be desirable to form a common ground between adjacent modules prior to engagement of the respective bridge connector portions of adjacent modules to ensure user safety. In this way, the grounding features 9558a and b and 9562a and b can be configured to engage with each other before the respective bridge connector portions.

[0399] In many respects, as illustrated in Figure 42A, the column/socket configuration can be implemented with 9558a and b rigid conductive columns on the 9554 lower module and 9562a and b spring conductive sockets on the 9552 upper module that are transitional. for a prone configuration when receiving their corresponding 9588-b columns. Alternatively, as illustrated in Figure 42B, the column/socket configuration can be implemented with a 9566 spring column on the 9554 lower module and a rigid socket

9568 on top module 9552. Spring sockets and/or spring posts can ensure that a proper common ground is formed between surgical modules 9552, 9554. A spring post can be a spring loaded connector and a spring socket may be a spring loaded socket connector. Examples

[0400] Various aspects of the matter described in this document are defined in the following numbered examples:

[0401] Example 1. A first module configured to engage with a second module in a stacked configuration to define a modular power system, the first module comprising: a first bridge connector portion configured to engage with a second bridge connector portion bridge of the second module, as the first module and the second module are engaged; and a first conductive portion configured to engage with a second conductive portion of the second module as the first module and the second module are engaged, prior to engagement between the first bridge connector portion and the second bridge connector portion .

[0402] Example 2. The first module of example 1, wherein the first conductive portion comprises a conductive column and the second conductive portion comprises a conductive socket configured to receive the conductive column therein.

[0403] Example 3. The first module of example 2, the conductive column comprising a spring-biased column configured to contact the conductive socket as the conductive column is received therein.

[0404] Example 4. The first module of any one of examples 1 to 3, wherein the second conductive portion comprises a conductive column and the first conductive portion comprises a so-

Conductive quete configured to receive the conductive column in it.

[0405] Example 5. The first module of example 4, the conductive socket comprising a spring-biased socket configured to contact the conductive column as the conductive column is received therein.

[0406] Example 6. The first module of any one of examples 1 to 5, the first conductive portion being configured to align the first bridge connector portion with the second bridge connector portion as the first conductive portion contacts the second conductive portion.

[0407] Example 7. A first module configured to engage with a second module in a stacked configuration to define a modular power system, with the first module comprising: an enclosure; a grounding base extending from the housing a first distance; and an insulating base extending from the housing a second distance; the second distance being greater than the first distance; the ground base being configured to contact a first receiving surface disposed on the second module; the insulating base being configured to be received within a first receiving socket disposed on the second module or in a third module such that the insulating base does not come into contact with the first receiving socket.

[0408] Example 8. The first module of example 7, where when the first module is placed on a flat surface, the insulating base makes contact with the flat surface and the ground base does not make contact with the flat surface.

[0409] Example 9. The first module of example 7 or 8, the first module comprising a second re-surface.

and a second receiving socket in the housing, the first module being configured to receive a grounding base and an insulating base from another module on the second receiving surface and the second receiving socket of the first module, respectively. .

[0410] Example 10. The first module of example 9, where the insulating base is L-shaped and the first receiving socket is L-shaped.

[0411] Example 11. The first module of example 9 or 10, at least one of the first receiving surface and the first receiving socket of the first module is molded into the housing.

[0412] Example 12. The first module of any one of examples 7 to 11, which additionally comprises four or more ground bases arranged in a spread-out configuration.

[0413] Example 13. The first module of any one of examples 7 to 12, where the insulating base comprises rubber.

[0414] Example 14. The first module of any of examples 7 through 13, with the grounding base molded into the housing.

[0415] Example 15. The first module of any of examples 7 to 14, wherein the ground base comprises a base and an accommodation portion and the ground base tapers inward from the base to the portion of accommodation.

[0416] Example 16. The first module of any one of examples 7 to 15, the enclosure comprising: a plurality of ground bases extending from a first surface of the enclosure a first distance, with the plurality of ground bases including the ground base; and receiving defined sockets on a second surface of the housing, the positions of the receiving sockets on the second surface reflecting the positions of the grounding base on the first surface.

[0417] Example 17. The first module of any one of examples 7 to 16, the enclosure comprising: a plurality of ground bases extending from a first surface of the enclosure a first distance, with the plurality of ground bases including the ground base; and receiving the defined sockets on the first surface of the housing, the positions of the receiving sockets on the second surface reflecting the positions of the grounding base on the first surface.

[0418] Example 18. A first module configured to engage with a second module in a stacked configuration to define a modular power system, with the second module comprising a housing and a second portion of bridge connector, with the second portion a bridge connector comprising a second electrical element, with the first module comprising: a first bridge connector comprising: a first electrical element; and an outer cabinet that extends at least partially around the first electrical element; and a metal contact secured to the outer enclosure, the metal contact configured to engage the second module housing during assembly before the first electrical element of the first bridge connector portion engages the second element electrical connection of the second portion of the bridge connector.

[0419] Example 19. The first module of example 18, the metal contact being a spring contact.

[0420] Example 20. The first module of example 18 or 19, where the outer housing of the first bridge connector is sized and configured to guide the metal contact to make direct contact with the housing of the second module.

[0421] Example 21. The first module of any one of examples 18 to 20, where the metal contact is in communication.

electrical connection with a housing of the first module.

[0422] Example 22. The first module of any of Examples 18 through 21, wherein the first bridge connector is a male bridge connector and the second bridge connector portion is a female bridge connector.

[0423] Example 23. The first module of any of Examples 18 through 22, where the first bridge connector is a female bridge connector and the second bridge connector is a male bridge connector.

[0424] Although various forms have been illustrated and described, it is not the applicant's intention to restrict or limit the scope of the claims attached to such detail. Numerous modifications, variations, alterations, substitutions, combinations and equivalents of these forms may be implemented and will occur to those skilled in the art without departing from the scope of the present disclosure. Furthermore, the structure of each element associated with the form can be alternatively described as a means to provide the function performed by the element. In addition, where materials are disclosed for certain components, other materials may be used. It should be understood, therefore, that the foregoing description and the attached claims are intended to include all such modifications, combinations and variations falling within the scope of the modalities presented. The appended claims are intended to cover all such modifications, variations, alterations, substitutions, modifications and equivalents.

[0425] The foregoing detailed description has presented various forms of devices and/or processes through the use of block diagrams, flowcharts and/or examples. Although these block diagrams, flowcharts and/or examples contain one or more functions and/or operations, it will be understood by those skilled in the art that each function and/or operation within these block diagrams, flowcharts and/or examples can be implemented, individually and/or collectively, through a wide range of hardware, software, firmware, or virtually any combination thereof. Those skilled in the art will recognize, however, that some aspects of the forms disclosed herein, in whole or in part, may be equivalently implemented in integrated circuits such as one or more computer programs running on one or more computers (e.g. , such as one or more programs running on one or more computer systems), such as one or more programs running on one or more processors (for example, as one or more programs running on one or more microprocessors), such as firmware , or virtually any combination thereof, and that the design of the circuitry and/or the writing of code for the software and firmware would be within the purview of the skilled artisan in light of this disclosure. Furthermore, those of skill in the art will understand that the subject matter mechanisms described herein may be distributed as one or more program products in a variety of ways and that an illustrative form of the subject matter described herein is applicable regardless of the specific type of media. signal transmission used to effectively carry out the distribution.

[0426] Instructions used to program logic to execute various disclosed aspects may be stored in memory on the system, such as dynamic random access memory (DRAM), cache, flash memory, or other storage. In addition, instructions can be distributed over a network or via other computer-readable media. Thus machine-readable media can include any mechanism for storing or transmitting information in a machine-readable form (eg, a computer), but is not limited to, floppy disks, optical disks, memory compact disks. read-only discs (CD-ROMs), and magneto-optical discs, me-

read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic or optical cards, flash memory, or a media Tangible machine-readable storage used in transmitting information over the Internet via electrical, optical, acoustic cable, or other forms of propagated signals (eg carrier waves, infrared signals, digital signals, etc.). Consequently, computer-readable non-transitional media includes any type of machine-readable media suitable for storing or transmitting electronic instructions or information in a machine-readable form (eg, a computer).

[0427] As used in any aspect of the present invention, the term "control circuit" may refer to, for example, a set of wired circuits, programmable circuits (eg, a computer processor that includes a or plus individual instruction processing cores, processing unit, processor, microcontroller, microcontroller unit, controller, digital signal processor (DSP), programmable logic device (PLD), programmable logic matrix (PLA), or array field-programmable gates (FPGA)), state machine circuits, firmware that stores instructions executed by the programmable circuit, and any combination thereof. The control circuit can collectively or individually be incorporated as an electrical circuit that is part of a larger system, eg an integrated circuit (IC), an application-specific integrated circuit (ASIC), an on-chip system (SoC), desktop computers, laptop computers, tablet computers, servers, smart phones, etc. Consequently, as used in the present invention, "control circuit" includes, but is not limited to, electrical circuitry that has at least one discrete electrical circuit, electrical circuitry that has at least one integrated circuit, electrical circuits that have at least one application-specific integrated circuit, electrical circuits that form a general-purpose computing device configured by a computer program (eg, a general-purpose computer configured by a computer program that at least partially executes the processes and/or devices described herein, or a microprocessor configured by a computer program that at least partially executes the processes and/or devices described herein), electrical circuits that form a memory device (for example , random access memory forms), and/or set of electrical circuits that form a communications device (for example, a modem, communication key, or optical-electrical equipment). Those of skill in the art will recognize that the subject matter described herein can be implemented analogically or digitally, or in some combination thereof.

[0428] As used in any aspect of the present invention, the term "logic" can refer to an application, software, firmware and/or circuit configured to perform any of the aforementioned operations. Software may be embedded as a software package, a code, instructions, instruction sets and/or data recorded on non-transient computer readable storage media. Firmware may be embedded as code, instructions or instruction sets and/or hard-coded (eg non-volatile) data in memory devices.

[0429] As used in any aspect of the present invention, the terms "component", "system", "module" and the like may refer to a computer-related entity, be it hardware, a combination of hardware and software, software or running software.

[0430] As used herein in any respect, an "algorithm" refers to the self-consistent sequence of steps that lead to the desired result, where a "step" refers to the manipulation of physical quantities and/or logical states that can, albeit they need not necessarily take the form of electrical or magnetic signals that can be stored, transferred, combined, compared and manipulated in any other way. It is common usage to call these signs bits, values, elements, symbols, characters, terms, numbers, or the like. These terms and similar terms may be associated with the appropriate physical quantities and are merely convenient identifications applied to those quantities and/or states.

[0431] A network may include a packet switched network. Communication devices may be able to communicate with each other using a selected packet-switched network communications protocol. An exemplary communications protocol may include an Ethernet communications protocol that may enable communication using a Transmission Control Protocol/Internet Protocol (TCP/IP). The Ethernet protocol may conform to or be compatible with the Ethernet standard published by the Institute of Electrical and Electronics Engineers (IEEE) entitled "IEEE 802.3 Standard", published in December 2008 and/or later versions of that standard. Alternatively or in addition, communication devices may be able to communicate with each other using an X.25 communications protocol. The X.25 communications protocol may conform to or be compatible with a standard promulgated by the International Telecommunication Union-Telecommunication Standardization Sector (ITU-T). Alternatively or additionally, communication devices may be able to communicate with each other using a frame-relay communications protocol. The frame-relay communications protocol may conform to or be compatible with a standard promulgated by the Consultative Committee for International Telegraph and Telephone (CCITT) and/or the American National Standards Institute (ANSI). Alternatively or additionally, the transceivers may be able to communicate with each other using an ATM (asynchronous transfer mode) communication protocol. The ATM communication protocol may conform to or be compatible with an ATM standard published by the ATM forum entitled "ATM-MPLS Network Interworking 2.0" published in August 2001, and/or later versions of that standard. Obviously, different and/or post-developed connection-oriented network communication protocols are also contemplated in the present invention.

[0432] Unless expressly stated to the contrary, as is evident from the foregoing disclosure, it is understood that throughout the foregoing disclosure, discussions using terms such as "processing", or "computation", or "calculation ", or "determination", or "display", or the like, refer to the action and processes of a computer, or similar electronic computing device, which manipulates and transforms the data represented in the form of physical quantities (electronic ) in computer records and memories in other data similarly represented in the form of physical quantities in computer memories or records, or in other similar devices for storing, transmitting or displaying information.

[0433] One or more components may be referred to in the present invention as "configured for", "configurable for", "operable/operable for", "adapted/adaptive for", "capable of", "con- formable/conformed to", etc. Those skilled in the art will recognize that "configured to" can generally encompass active state components and/or idle state components and/or standby components, unless the context dictates otherwise. .

[0434] The terms "proximal" and "distal" are used in the present invention with reference to a physician manipulating the handle portion of the surgical instrument. The term "proximal" refers to the portion closest to the physician, and the term "distal" refers to the portion located away from the physician. It will also be understood that, for the sake of convenience and clarity, spatial terms such as "vertical", "horizontal", "upward" and "downward" may be used in the present invention in connection with the drawings. However, surgical instruments can be used in many orientations and positions, and these terms are not intended to be limiting and/or absolute.

[0435] Persons skilled in the art will recognize that, in general, terms used herein, and particularly in the appended claims (eg bodies of the appended claims) are generally intended as "open" terms (eg the term "including" shall be construed as "including but not limited to", the term "having" shall be construed as "having at least", the term "includes" shall be construed as "includes but not if limits to", etc.). It will be further understood by those skilled in the art that when a specific number of a mention of an introduced claim is intended, such intention will be expressly mentioned in the claim and, in the absence of such mention, no intention will be present. For example, as an aid to understanding, the following appended claims may contain the use of the introductory phrases "at least one" and "one or more" to introduce claim mentions. However, the use of such phrases is not to be interpreted to imply that the introduction of a mention of the claim by the indefinite articles "a, some" or "an, ones" limits any specific claim containing the mention of the introduced claim to claims that contain only such a mention, even when the same claim includes the introductory phrases "one or more" or "at least one" and indefinite articles such as "one, ones" or "one, ones" (eg, "an , ones" and/or "an, ones" should typically be interpreted to mean "at least one" or "one or more"); the same goes for the use of definite articles used to introduce the claim mentions.

[0436] Furthermore, even if a specific number of an introduced claim mention is explicitly mentioned, those skilled in the art will recognize that such mention needs to be typically interpreted as meaning at least the mentioned number (eg, mere mention of "two mentions", without other modifiers, typically means at least two mentions, or two or more mentions). Furthermore, in cases where a convention analogous to "at least one of A, B and C, etc." is used, this construction is generally intended to have the sense in which the convention would be understood (eg, "a system that has at least one of A, B, and C" would include, but not be limited to, systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B and C together, etc.). In cases where a convention analogous to "at least one of A, B or C, etc." is used, this construction is generally intended to have the sense in which the convention would be understood (eg, "a system which has at least one of A, B, and C" would include, but not be limited to, systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B and C together, etc.). It will be further understood by those skilled in the art that typically a disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, claims or drawings, is to be understood as contemplating the possibility of including one of the terms, any one of the terms or both terms, except when the context determines to indicate something different. For example, the phrase "A or B" will typically be understood to include the possibilities of "A" or "B" or "A and B".

[0437] With respect to the appended claims, those skilled in the art will understand that the operations mentioned therein can, in general, be performed in any order. Furthermore, although several operational flow diagrams are presented in one or more sequences, it should be understood that the various operations can be performed in orders other than those illustrated, or they can be performed simultaneously. Examples of such alternative orderings may include overlapping, interspersed, interrupted, reordered, incremental, preparatory, supplemental, simultaneous, inverse, or other variant orderings, unless the context dictates otherwise. Furthermore, terms such as "responsive to", "related to" or other adjective participles are not generally intended to exclude such variants, unless the context determines otherwise.

[0438] It is worth noting that any reference to "one (1) aspect", "an aspect", "an instance" or "one (1) instance", and the like means that a particular feature, structure or characteristic described in connection to aspect is included in at least one aspect. Thus, the use of expressions such as "in one (1) aspect", "in one aspect", "in an instance", "in one (1) instance", in several places throughout this descriptive report it does not necessarily refer to the same aspect. In addition, specific features, structures or characteristics can be combined in any suitable way in one or more aspects.

[0439] Any patent application, patent, non-patent publication or other descriptive material mentioned in this specification and/or mentioned in any application data sheet is hereby incorporated by reference, to the extent that the embedded materials are not inconsistent with this. Accordingly, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting material incorporated into the present invention by way of reference. Any material, or portion thereof, incorporated herein by reference but which conflicts with existing definitions, statements, or other disclosure materials presented herein is incorporated herein only to the extent that there is no conflict between the incorporated material and the existing promotional material.

[0440] In summary, numerous benefits have been described that result from the use of the concepts described in this document. The aforementioned description of one or more modalities has been presented for purposes of illustration and description. This description is not intended to be exhaustive or to limit the invention to the precise form disclosed. Modifications or variations are possible in light of the above teachings. One or more modalities were chosen and described in order to illustrate the principles and practical application, thus allowing the person skilled in the art to use the various modalities and with various modifications, as convenient for the specific use. contemplated. The attached claims are intended to define the global scope.

Claims (23)

1. First module configured to engage with a second module in a stacked configuration to define a modular power system, characterized in that the first module comprises: a first bridge connector portion configured to engage with a second bridge connector portion of the second module as the first module and the second module are engaged; and a first conductive portion configured to engage with a second conductive portion of the second module as the first module and the second module are engaged, prior to engagement between the first bridge connector portion and the second bridge connector portion . First module according to claim 1, characterized in that the first conductive portion comprises a conductive column and the second conductive portion comprises a conductive socket configured to receive the conductive column therein. A first module, according to claim 2, characterized in that the conductive column comprises a spring-biased column configured to contact the conductive socket as the conductive column is received therein. First module according to claim 1, characterized in that the second conductive portion comprises a conductive column and the first conductive portion comprises a conductive socket configured to receive the conductive column therein. 5. First module, according to claim 4, characterized in that the conductive socket comprises a spring-prone socket configured to contact the conductive column as the conductive column is received therein. 6. First module according to claim 1, character- characterized in that the first conductive portion is configured to align the first bridge connector portion with the second bridge connector portion as the first conductive portion contacts the second conductive portion. 7. First module configured to engage with a second module in a stacked configuration to define a modular power system, characterized in that the first module comprises: an enclosure; a grounding base extending from the housing a first distance; and an insulating base extending from the housing a second distance; the second distance being greater than the first distance; the ground base being configured to contact a first receiving surface disposed on the second module; wherein the insulating base is configured to be received within a first receiving socket disposed on the second module or in a third module such that the insulating base does not come into contact with the first receiving socket. 8. First module, according to claim 7, characterized in that the first module is positioned on a flat surface, the insulating base makes contact with the flat surface and the ground base does not make contact with the flat surface. First module according to claim 7, characterized in that the first module comprises a second receiving surface and a second receiving socket in the housing, the first module being configured to receive a grounding base and an insulating base from another module in the second su- receiving surface and the second receiving socket of the first module, respectively. 10. First module, according to claim 9, characterized in that the insulating base is L-shaped and the first receiving socket is L-shaped. First module according to claim 9, characterized in that at least one of the first receiving surface and the first receiving socket of the first module are molded into the housing. 12. First module, according to claim 7, characterized in that it additionally comprises four or more ground bases arranged in a spread configuration. First module, according to claim 7, characterized in that the insulating base comprises rubber. 14. First module, according to claim 7, characterized in that the grounding base is molded into the housing. First module according to claim 7, characterized in that the grounding base comprises a base and an accommodation portion and the grounding base tapers inwardly from the base to the accommodation portion. The first module of claim 7, wherein the housing comprises: a plurality of ground bases extending from a first surface of the housing over a first distance, with the plurality of ground bases extending from a first surface of the housing for a first distance. grounding including the grounding base; and receiving defined sockets on a second surface of the housing, the positions of the receiving sockets on the second surface reflecting the positions of the grounding base on the first surface. The first module of claim 7, wherein the housing comprises: a plurality of ground bases extending from a first surface of the housing for a first distance, with the plurality of ground bases including the grounding base; and receiving the defined sockets on the first surface of the housing, the positions of the receiving sockets on the second surface reflecting the positions of the ground base on the first surface. 18. First module configured to engage with a second module in a stacked configuration to define a modular power system, with the second module comprising a housing and a second bridge connector portion, with the second bridge connector portion. bridge comprising a second electrical element, the first module being characterized by comprising: a first bridge connector comprising: a first electrical element; and an outer cabinet that extends at least partially around the first electrical element; and a metal contact secured to the outer cabinet, the metal contact configured to engage the second module housing during assembly before the first electrical element of the first bridge connector portion engages the second electrical element of the section. second portion of bridge connector. 19. First module according to claim 18, characterized in that the metal contact is a spring contact. 20. First module according to claim 18, characterized in that the outer housing of the first bridge connector is dimensioned and configured to guide the metal contact to come into direct contact with the housing of the second module. 21. First module according to claim 18, characterized in that the metal contact is in electrical communication with a housing of the first module. 22. First module according to claim 18, characterized in that the first bridge connector is a male bridge connector and the second bridge connector portion is a female bridge connector. 23. First module according to claim 18, characterized in that the first bridge connector is a female bridge connector and the second bridge connector is a male bridge connector.